mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
dd589934cc
AP_Logger.h is a nexus of includes; while this is being improved over time, there's no reason for the library headers to include AP_Logger.h as the logger itself is access by singleton and the structures are in LogStructure.h This necessitated moving The PID_Info structure out of AP_Logger's namespace. This cleans up a pretty nasty bit - that structure is definitely not simply used for logging, but also used to pass pid information around to controllers! There are a lot of patches in here because AP_Logger.h, acting as a nexus, was providing transitive header file inclusion in many (some unlikely!) places.
72 lines
1.7 KiB
C++
72 lines
1.7 KiB
C++
#pragma once
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_Vehicle/AP_Vehicle.h>
|
|
#include <AC_PID/AP_PIDInfo.h>
|
|
|
|
class AP_SteerController {
|
|
public:
|
|
AP_SteerController()
|
|
{
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
}
|
|
|
|
/* Do not allow copies */
|
|
AP_SteerController(const AP_SteerController &other) = delete;
|
|
AP_SteerController &operator=(const AP_SteerController&) = delete;
|
|
|
|
/*
|
|
return a steering servo output from -4500 to 4500 given a
|
|
desired lateral acceleration rate in m/s/s. Positive lateral
|
|
acceleration is to the right.
|
|
*/
|
|
int32_t get_steering_out_lat_accel(float desired_accel);
|
|
|
|
/*
|
|
return a steering servo output from -4500 to 4500 given a
|
|
desired yaw rate in degrees/sec. Positive yaw is to the right.
|
|
*/
|
|
int32_t get_steering_out_rate(float desired_rate);
|
|
|
|
/*
|
|
return a steering servo output from -4500 to 4500 given a
|
|
yaw error in centi-degrees
|
|
*/
|
|
int32_t get_steering_out_angle_error(int32_t angle_err);
|
|
|
|
/*
|
|
return the steering radius (half diameter). Assumed to be half
|
|
the P value.
|
|
*/
|
|
float get_turn_radius(void) const { return _K_P * 0.5f; }
|
|
|
|
void reset_I();
|
|
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
const class AP_PIDInfo& get_pid_info(void) const { return _pid_info; }
|
|
|
|
void set_reverse(bool reverse) {
|
|
_reverse = reverse;
|
|
}
|
|
|
|
private:
|
|
AP_Float _tau;
|
|
AP_Float _K_FF;
|
|
AP_Float _K_P;
|
|
AP_Float _K_I;
|
|
AP_Float _K_D;
|
|
AP_Float _minspeed;
|
|
AP_Int16 _imax;
|
|
uint32_t _last_t;
|
|
float _last_out;
|
|
|
|
AP_Float _deratespeed;
|
|
AP_Float _deratefactor;
|
|
AP_Float _mindegree;
|
|
|
|
AP_PIDInfo _pid_info {};
|
|
|
|
bool _reverse;
|
|
};
|