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AC_AttitudeControl: add get accel and save ff

This commit is contained in:
Leonard Hall 2015-05-06 16:41:48 +09:30 committed by Randy Mackay
parent 7cccb73103
commit cf45a1cf3a
1 changed files with 20 additions and 8 deletions
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28
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -16,14 +16,14 @@
#include <AC_P.h>
// To-Do: change the name or move to AP_Math?
#define AC_ATTITUDE_CONTROL_DEGX100 5729.57795f // constant to convert from radians to centi-degrees
#define AC_ATTITUDE_ACCEL_RP_CONTROLLER_MIN 36000.0f// minimum body-frame acceleration limit for the stability controller (for roll and pitch axis)
#define AC_ATTITUDE_ACCEL_RP_CONTROLLER_MAX 72000.0f// maximum body-frame acceleration limit for the stability controller (for roll and pitch axis)
#define AC_ATTITUDE_ACCEL_Y_CONTROLLER_MIN 18000.0f// minimum body-frame acceleration limit for the stability controller (for yaw axis)
#define AC_ATTITUDE_ACCEL_Y_CONTROLLER_MAX 36000.0f// maximum body-frame acceleration limit for the stability controller (for yaw axis)
#define AC_ATTITUDE_CONTROL_SLEW_YAW_DEFAULT 1000 // constraint on yaw angle error in degrees. This should lead to maximum turn rate of 10deg/sed * Stab Rate P so by default will be 45deg/sec.
#define AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT 0 // default maximum acceleration for roll/pitch axis in centi-degrees/sec/sec
#define AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT 0 // default maximum acceleration for yaw axis in centi-degrees/sec/sec
#define AC_ATTITUDE_CONTROL_DEGX100 5729.57795f // constant to convert from radians to centi-degrees
#define AC_ATTITUDE_ACCEL_RP_CONTROLLER_MIN 36000.0f // minimum body-frame acceleration limit for the stability controller (for roll and pitch axis)
#define AC_ATTITUDE_ACCEL_RP_CONTROLLER_MAX 72000.0f // maximum body-frame acceleration limit for the stability controller (for roll and pitch axis)
#define AC_ATTITUDE_ACCEL_Y_CONTROLLER_MIN 9000.0f // minimum body-frame acceleration limit for the stability controller (for yaw axis)
#define AC_ATTITUDE_ACCEL_Y_CONTROLLER_MAX 36000.0f // maximum body-frame acceleration limit for the stability controller (for yaw axis)
#define AC_ATTITUDE_CONTROL_SLEW_YAW_DEFAULT 1000 // constraint on yaw angle error in degrees. This should lead to maximum turn rate of 10deg/sed * Stab Rate P so by default will be 45deg/sec.
#define AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT 110000.0f // default maximum acceleration for roll/pitch axis in centi-degrees/sec/sec
#define AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT 27000.0f // default maximum acceleration for yaw axis in centi-degrees/sec/sec
#define AC_ATTITUDE_RATE_CONTROLLER_TIMEOUT 1.0f // body-frame rate controller timeout in seconds
#define AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX 5000.0f // body-frame rate controller maximum output (for roll-pitch axis)
@ -78,12 +78,21 @@ public:
// set_dt - sets time delta in seconds for all controllers (i.e. 100hz = 0.01, 400hz = 0.0025)
void set_dt(float delta_sec);
// get_accel_roll_max - gets the roll acceleration limit
float get_accel_roll_max() { return _accel_roll_max; }
// save_accel_roll_max - sets and saves the roll acceleration limit
void save_accel_roll_max(float accel_roll_max) { _accel_roll_max = accel_roll_max; _accel_roll_max.save(); }
// get_accel_pitch_max - gets the pitch acceleration limit
float get_accel_pitch_max() { return _accel_pitch_max; }
// save_accel_pitch_max - sets and saves the pitch acceleration limit
void save_accel_pitch_max(float accel_pitch_max) { _accel_pitch_max = accel_pitch_max; _accel_pitch_max.save(); }
// get_accel_yaw_max - gets the yaw acceleration limit
float get_accel_yaw_max() { return _accel_yaw_max; }
// save_accel_yaw_max - sets and saves the yaw acceleration limit
void save_accel_yaw_max(float accel_yaw_max) { _accel_yaw_max = accel_yaw_max; _accel_yaw_max.save(); }
@ -168,6 +177,9 @@ public:
// bf_feedforward - enable or disable body-frame feed forward
void bf_feedforward(bool enable_or_disable) { _rate_bf_ff_enabled = enable_or_disable; }
// bf_feedforward - enable or disable body-frame feed forward and save
void bf_feedforward_save(bool enable_or_disable) { _rate_bf_ff_enabled = enable_or_disable; _rate_bf_ff_enabled.save(); }
// get_bf_feedforward - return body-frame feed forward setting
bool get_bf_feedforward() { return _rate_bf_ff_enabled; }