ardupilot/libraries/APM_Control/AP_RollController.h

43 lines
927 B
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
#ifndef __AP_ROLL_CONTROLLER_H__
#define __AP_ROLL_CONTROLLER_H__
#include <AP_AHRS.h>
#include <AP_Common.h>
#include <math.h> // for fabs()
class AP_RollController {
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_Float _stabilize_gain;
AP_Int16 _max_rate;
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 // __AP_ROLL_CONTROLLER_H__