ardupilot/libraries/APM_Control/AP_SteerController.h

75 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;
}
// Returns true if controller has been run recently
bool active() const;
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;
};