mirror of https://github.com/ArduPilot/ardupilot
46 lines
972 B
C
46 lines
972 B
C
|
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
||
|
|
|
||
|
|
#ifndef AP_PitchController_h
|
||
|
|
#define AP_PitchController_h
|
||
|
|
|
||
|
|
#include <FastSerial.h>
|
||
|
|
#include <AP_AHRS.h>
|
||
|
|
#include <AP_Common.h>
|
||
|
|
#include <math.h> // for fabs()
|
||
|
|
|
||
|
|
class AP_PitchController {
|
||
|
|
public:
|
||
|
|
void set_ahrs(AP_AHRS *ahrs) { _ahrs = ahrs; }
|
||
|
|
|
||
|
|
int32_t get_servo_out(int32_t angle, float scaler = 1.0, bool stabilize = false);
|
||
|
|
|
||
|
|
void reset_I();
|
||
|
|
|
||
|
|
static const struct AP_Param::GroupInfo var_info[];
|
||
|
|
|
||
|
|
private:
|
||
|
|
AP_Float _kp_angle;
|
||
|
|
AP_Float _kp_ff;
|
||
|
|
AP_Float _kp_rate;
|
||
|
|
AP_Float _ki_rate;
|
||
|
|
AP_Int16 _max_rate_pos;
|
||
|
|
AP_Int16 _max_rate_neg;
|
||
|
|
AP_Float _roll_ff;
|
||
|
|
AP_Float _stabilize_gain;
|
||
|
|
uint32_t _last_t;
|
||
|
|
float _last_rate;
|
||
|
|
|
||
|
|
float _integrator;
|
||
|
|
|
||
|
|
AP_AHRS *_ahrs;
|
||
|
|
|
||
|
|
/// Low pass filter cut frequency for derivative calculation.
|
||
|
|
///
|
||
|
|
/// 20 Hz becasue anything over that is probably noise, see
|
||
|
|
/// http://en.wikipedia.org/wiki/Low-pass_filter.
|
||
|
|
///
|
||
|
|
static const uint8_t _fCut = 20;
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif
|