mirror of https://github.com/ArduPilot/ardupilot
75 lines
1.7 KiB
C++
75 lines
1.7 KiB
C++
#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <AC_PID/AP_PIDInfo.h>
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class AP_SteerController {
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public:
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AP_SteerController()
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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/* Do not allow copies */
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AP_SteerController(const AP_SteerController &other) = delete;
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AP_SteerController &operator=(const AP_SteerController&) = delete;
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/*
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return a steering servo output from -4500 to 4500 given a
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desired lateral acceleration rate in m/s/s. Positive lateral
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acceleration is to the right.
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*/
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int32_t get_steering_out_lat_accel(float desired_accel);
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/*
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return a steering servo output from -4500 to 4500 given a
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desired yaw rate in degrees/sec. Positive yaw is to the right.
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*/
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int32_t get_steering_out_rate(float desired_rate);
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/*
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return a steering servo output from -4500 to 4500 given a
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yaw error in centi-degrees
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*/
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int32_t get_steering_out_angle_error(int32_t angle_err);
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/*
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return the steering radius (half diameter). Assumed to be half
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the P value.
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*/
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float get_turn_radius(void) const { return _K_P * 0.5f; }
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void reset_I();
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static const struct AP_Param::GroupInfo var_info[];
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const class AP_PIDInfo& get_pid_info(void) const { return _pid_info; }
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void set_reverse(bool reverse) {
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_reverse = reverse;
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}
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// Returns true if controller has been run recently
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bool active() const;
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private:
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AP_Float _tau;
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AP_Float _K_FF;
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AP_Float _K_P;
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AP_Float _K_I;
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AP_Float _K_D;
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AP_Float _minspeed;
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AP_Int16 _imax;
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uint32_t _last_t;
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float _last_out;
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AP_Float _deratespeed;
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AP_Float _deratefactor;
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AP_Float _mindegree;
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AP_PIDInfo _pid_info {};
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bool _reverse;
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};
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