mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-02 14:13:42 -04:00
a9acfcb615
This commit changes the way libraries headers are included in source files: - If the header is in the same directory the source belongs to, so the notation '#include ""' is used with the path relative to the directory containing the source. - If the header is outside the directory containing the source, then we use the notation '#include <>' with the path relative to libraries folder. Some of the advantages of such approach: - Only one search path for libraries headers. - OSs like Windows may have a better lookup time.
54 lines
1.5 KiB
C++
54 lines
1.5 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#ifndef __AP_PITCH_CONTROLLER_H__
|
|
#define __AP_PITCH_CONTROLLER_H__
|
|
|
|
#include <AP_AHRS/AP_AHRS.h>
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_Vehicle/AP_Vehicle.h>
|
|
#include "AP_AutoTune.h"
|
|
#include <DataFlash/DataFlash.h>
|
|
#include <AP_Math/AP_Math.h>
|
|
|
|
class AP_PitchController {
|
|
public:
|
|
AP_PitchController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash) :
|
|
aparm(parms),
|
|
autotune(gains, AP_AutoTune::AUTOTUNE_PITCH, parms, _dataflash),
|
|
_ahrs(ahrs)
|
|
{
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
}
|
|
|
|
int32_t get_rate_out(float desired_rate, float scaler);
|
|
int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator);
|
|
|
|
void reset_I();
|
|
|
|
void autotune_start(void) { autotune.start(); }
|
|
void autotune_restore(void) { autotune.stop(); }
|
|
|
|
const DataFlash_Class::PID_Info& get_pid_info(void) const { return _pid_info; }
|
|
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
private:
|
|
const AP_Vehicle::FixedWing &aparm;
|
|
AP_AutoTune::ATGains gains;
|
|
AP_AutoTune autotune;
|
|
AP_Int16 _max_rate_neg;
|
|
AP_Float _roll_ff;
|
|
uint32_t _last_t;
|
|
float _last_out;
|
|
|
|
DataFlash_Class::PID_Info _pid_info;
|
|
|
|
int32_t _get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed);
|
|
float _get_coordination_rate_offset(float &aspeed, bool &inverted) const;
|
|
|
|
AP_AHRS &_ahrs;
|
|
|
|
};
|
|
|
|
#endif // __AP_PITCH_CONTROLLER_H__
|