AC_Simulink: simulink support for ArduCopter

Glue code to enable Simulink-generated controller with ArduCopter

Author: amathamk

libraries/AC_Simulink/AC_Simulink_Base.h

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+#pragma once
+
+/// @file    AC_Simulink_Base.h
+/// @brief   Base class implementation of Simulink integration
+
+#include <AP_Common/AP_Common.h>
+
+class AC_Simulink_Base {
+public:
+    virtual ~AC_Simulink_Base() {}
+    virtual void init() = 0;
+    virtual void update() = 0;
+    virtual void reset() = 0;
+};

libraries/AC_Simulink/AC_Simulink_ControllerInterfaces.cpp

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+
+/// @file    AC_Simulink_ControllerInterfaces.cpp
+/// @brief   Controller and motor interface of Simulink integration
+
+#include <AP_HAL/AP_HAL.h>
+#include "AC_Simulink_ControllerInterfaces.h"
+
+AC_Simulink_ControllerInterfaces::AC_Simulink_ControllerInterfaces(AP_AHRS_View *&ahrs, 
+AC_AttitudeControl *&att_control, AC_PosControl *&pos_control, AP_MotorsMulticopter *&motors) {
+    //Controller and Motor handles will be used by the Simulink generated code
+}

libraries/AC_Simulink/AC_Simulink_ControllerInterfaces.h

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+#pragma once
+
+/// @file    AC_Simulink_ControllerInterfaces.h
+/// @brief   Controller and motor interface of Simulink integration
+
+#include <AP_Common/AP_Common.h>
+#include <AP_AHRS/AP_AHRS_View.h>
+#include <AC_AttitudeControl/AC_AttitudeControl.h>
+#include <AC_AttitudeControl/AC_PosControl.h>
+#include <AP_Motors/AP_MotorsMulticopter.h>
+
+class AC_Simulink_ControllerInterfaces {
+public:
+    AC_Simulink_ControllerInterfaces(AP_AHRS_View *&ahrs, 
+    AC_AttitudeControl *&_att_control, AC_PosControl *&_pos_control, 
+    AP_MotorsMulticopter *&motors);
+
+    CLASS_NO_COPY(AC_Simulink_ControllerInterfaces);
+
+};

libraries/AC_Simulink/AC_Simulink_Empty.cpp

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+
+/// @file    AC_Simulink_Empty.cpp
+/// @brief   Empty class implementation for Simulink integration
+
+#include "AC_Simulink_Empty.h"
+AC_Simulink_Empty::AC_Simulink_Empty() {
+}
+
+void AC_Simulink_Empty::init() {
+}
+
+void AC_Simulink_Empty::update() {
+}
+
+void AC_Simulink_Empty::reset() {
+
+}

libraries/AC_Simulink/AC_Simulink_Empty.h

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+#pragma once
+
+/// @file    AC_Simulink_Empty.h
+/// @brief   Empty implementation for Simulink integration
+
+#include "AC_Simulink_Base.h"
+
+class AC_Simulink_Empty : public AC_Simulink_Base {
+public:
+    AC_Simulink_Empty();
+    ~AC_Simulink_Empty() override {}
+
+    void init() override;
+    void update() override;
+    void reset() override;
+
+    CLASS_NO_COPY(AC_Simulink_Empty);
+};

libraries/AC_Simulink/AC_Simulink_Factory.cpp

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+
+/// @file    AC_Simulink_Factory.cpp
+/// @brief   Factory class for choosing the right class for Simulink integration based on the simulation mode
+
+#include "AC_Simulink_Factory.h"
+
+AC_Simulink_Base* AC_Simulink_Factory::createSimulinkInstance() {
+#ifdef MW_EXTERNAL_MODE
+    return new AC_Simulink_ExtMode();
+#elif defined(MW_NORMAL_MODE)
+    return new AC_Simulink_Normal();
+#elif defined(MW_CONNECTEDIO_MODE)
+    return new AC_Simulink_ConnectedIO();
+#else
+    return new AC_Simulink_Empty();
+#endif
+}

libraries/AC_Simulink/AC_Simulink_Factory.h

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+#pragma once
+
+/// @file    AC_Simulink_Factory.h
+/// @brief   Factory class for choosing the right class for Simulink integration based on the simulation mode
+
+#include "AC_Simulink_Base.h"
+#ifdef MW_EXTERNAL_MODE
+#include "AC_Simulink_ExtMode.h"
+#elif defined(MW_NORMAL_MODE)
+#include "AC_Simulink_Normal.h"
+#elif defined(MW_CONNECTEDIO_MODE)
+#include "AC_Simulink_ConnectedIO.h"
+#else
+#include "AC_Simulink_Empty.h"
+#endif
+class AC_Simulink_Factory {
+public:
+    static AC_Simulink_Base* createSimulinkInstance();
+};