public CheckpointPIDController(Drone drone, float mass, float gravity, AbstractDroneCommand droneCommand, Parameter[] parameters, List<Checkpoint> checkpoints)
: base(drone, mass, gravity, droneCommand, parameters)
{
_targetCheckpoints = checkpoints;
_isStarted = false;
_rotorsEnabled = false;
}
public SimplePIDController(Drone drone, float mass, float gravity, AbstractDroneCommand droneCommand, Parameter[] parameters)
{
_drone = drone;
_droneMass = mass;
_gravity = gravity;
_droneCommand = droneCommand;
_gravity = gravity;
_altParameter = new Parameter(ParameterType.Altitude, new Coefficients(0, 0, 0));
_yawParameter = new Parameter(ParameterType.Yaw, new Coefficients(0, 0, 0));
_pitchParameter = new Parameter(ParameterType.Pitch, new Coefficients(0, 0, 0));
_rollParameter = new Parameter(ParameterType.Roll, new Coefficients(0, 0, 0));
foreach (Parameter param in parameters)
{
switch (param.Type)
{
case ParameterType.Altitude:
_altParameter = param;
break;
case ParameterType.Pitch:
_pitchParameter = param;
break;
case ParameterType.Roll:
_rollParameter = param;
break;
case ParameterType.Yaw:
_yawParameter = param;
break;
}
}
}
public PlayerController(PlayerInteraction player, Drone drone, float mass, float gravity, AbstractDroneCommand droneCommand, Parameter[] parameters)
: base(drone, mass, gravity, droneCommand, parameters)
{
_command = droneCommand;
_player = player;
_deltaZ = 0;
_drone = drone;
_isStarted = false;
return;
}