mirror of
https://github.com/ArduPilot/ardupilot
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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.
67 lines
1.6 KiB
C++
67 lines
1.6 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_STEER_CONTROLLER_H__
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#define __AP_STEER_CONTROLLER_H__
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#include <AP_AHRS/AP_AHRS.h>
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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 <DataFlash/DataFlash.h>
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class AP_SteerController {
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public:
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AP_SteerController(AP_AHRS &ahrs) :
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_ahrs(ahrs)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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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 DataFlash_Class::PID_Info& get_pid_info(void) const { return _pid_info; }
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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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DataFlash_Class::PID_Info _pid_info {};
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AP_AHRS &_ahrs;
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};
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#endif // __AP_STEER_CONTROLLER_H__
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