ardupilot/libraries/APM_Control/AP_PitchController.h

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_PITCH_CONTROLLER_H__
#define __AP_PITCH_CONTROLLER_H__
#include <AP_AHRS.h>
#include <AP_Common.h>
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#include <AP_Vehicle.h>
#include <math.h>
class AP_PitchController {
public:
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AP_PitchController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms) :
aparm(parms),
_ahrs(ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
}
int32_t get_rate_out(float desired_rate, float scaler);
int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator);
void reset_I();
static const struct AP_Param::GroupInfo var_info[];
private:
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const AP_Vehicle::FixedWing &aparm;
AP_Float _tau;
AP_Float _K_P;
AP_Float _K_I;
AP_Float _K_D;
AP_Int16 _max_rate_pos;
AP_Int16 _max_rate_neg;
AP_Float _roll_ff;
AP_Int16 _imax;
uint32_t _last_t;
float _last_out;
float _integrator;
int32_t _get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed);
float _get_coordination_rate_offset(float &aspeed, bool &inverted) const;
AP_AHRS &_ahrs;
};
#endif // __AP_PITCH_CONTROLLER_H__