LibrePilot/flight/modules/PathFollower/pathfollowercontrol.cpp

/*
 ******************************************************************************
 *
 * @file       PathFollowerControl.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
 * @brief      Controller interface class implementation
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

extern "C" {
#include <openpilot.h>
#include <flightstatus.h>
#include <pathstatus.h>
#include <pathdesired.h>
}

// C++ includes
#include "pathfollowercontrol.h"

PathDesiredData *PathFollowerControl::pathDesired   = 0;
FlightStatusData *PathFollowerControl::flightStatus = 0;
PathStatusData *PathFollowerControl::pathStatus     = 0;

int32_t PathFollowerControl::Initialize(PathDesiredData *ptr_pathDesired,
                                        FlightStatusData *ptr_flightStatus,
                                        PathStatusData *ptr_pathStatus)
{
    PIOS_Assert(ptr_pathDesired);
    PIOS_Assert(ptr_flightStatus);
    PIOS_Assert(ptr_pathStatus);

    pathDesired  = ptr_pathDesired;
    flightStatus = ptr_flightStatus;
    pathStatus   = ptr_pathStatus;
    return 0;
}