mirror of https://github.com/ArduPilot/ardupilot
71 lines
2.2 KiB
C++
71 lines
2.2 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
|
#pragma once
|
|
|
|
/// @file AC_AttitudeControl_Multi.h
|
|
/// @brief ArduCopter attitude control library
|
|
|
|
#include "AC_AttitudeControl.h"
|
|
#include <AP_Motors/AP_MotorsMulticopter.h>
|
|
|
|
// default rate controller PID gains
|
|
#ifndef AC_ATC_MULTI_RATE_RP_P
|
|
# define AC_ATC_MULTI_RATE_RP_P 0.135f
|
|
#endif
|
|
#ifndef AC_ATC_MULTI_RATE_RP_I
|
|
# define AC_ATC_MULTI_RATE_RP_I 0.090f
|
|
#endif
|
|
#ifndef AC_ATC_MULTI_RATE_RP_D
|
|
# define AC_ATC_MULTI_RATE_RP_D 0.0036f
|
|
#endif
|
|
#ifndef AC_ATC_MULTI_RATE_RP_IMAX
|
|
# define AC_ATC_MULTI_RATE_RP_IMAX 0.444f
|
|
#endif
|
|
#ifndef AC_ATC_MULTI_RATE_RP_FILT_HZ
|
|
# define AC_ATC_MULTI_RATE_RP_FILT_HZ 20.0f
|
|
#endif
|
|
#ifndef AC_ATC_MULTI_RATE_YAW_P
|
|
# define AC_ATC_MULTI_RATE_YAW_P 0.180f
|
|
#endif
|
|
#ifndef AC_ATC_MULTI_RATE_YAW_I
|
|
# define AC_ATC_MULTI_RATE_YAW_I 0.018f
|
|
#endif
|
|
#ifndef AC_ATC_MULTI_RATE_YAW_D
|
|
# define AC_ATC_MULTI_RATE_YAW_D 0.0f
|
|
#endif
|
|
#ifndef AC_ATC_MULTI_RATE_YAW_IMAX
|
|
# define AC_ATC_MULTI_RATE_YAW_IMAX 0.222f
|
|
#endif
|
|
#ifndef AC_ATC_MULTI_RATE_YAW_FILT_HZ
|
|
# define AC_ATC_MULTI_RATE_YAW_FILT_HZ 5.0f
|
|
#endif
|
|
|
|
|
|
class AC_AttitudeControl_Multi : public AC_AttitudeControl {
|
|
public:
|
|
AC_AttitudeControl_Multi(AP_AHRS &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt);
|
|
|
|
// empty destructor to suppress compiler warning
|
|
virtual ~AC_AttitudeControl_Multi() {}
|
|
|
|
// pid accessors
|
|
AC_PID& get_rate_roll_pid() { return _pid_rate_roll; }
|
|
AC_PID& get_rate_pitch_pid() { return _pid_rate_pitch; }
|
|
AC_PID& get_rate_yaw_pid() { return _pid_rate_yaw; }
|
|
|
|
// get lean angle max for pilot input that prioritises altitude hold over lean angle
|
|
float get_althold_lean_angle_max() const;
|
|
|
|
// calculate total body frame throttle required to produce the given earth frame throttle
|
|
float get_boosted_throttle(float throttle_in);
|
|
|
|
// user settable parameters
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
protected:
|
|
|
|
AP_MotorsMulticopter& _motors_multi;
|
|
AC_PID _pid_rate_roll;
|
|
AC_PID _pid_rate_pitch;
|
|
AC_PID _pid_rate_yaw;
|
|
};
|