mirror of https://github.com/ArduPilot/ardupilot
46 lines
1.2 KiB
C++
46 lines
1.2 KiB
C++
#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <AC_PID/AC_PID.h>
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#include <AC_PID/AC_P.h>
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#include "AC_CustomControl_Backend.h"
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#ifndef CUSTOMCONTROL_PID_ENABLED
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#define CUSTOMCONTROL_PID_ENABLED AP_CUSTOMCONTROL_ENABLED
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#endif
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#if CUSTOMCONTROL_PID_ENABLED
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class AC_CustomControl_PID : public AC_CustomControl_Backend {
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public:
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AC_CustomControl_PID(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt);
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// run lowest level body-frame rate controller and send outputs to the motors
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Vector3f update() override;
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void reset(void) override;
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// set the PID notch sample rates
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void set_notch_sample_rate(float sample_rate) override;
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// user settable parameters
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// put controller related variable here
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float _dt;
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// angle P controller objects
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AC_P _p_angle_roll2;
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AC_P _p_angle_pitch2;
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AC_P _p_angle_yaw2;
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// rate PID controller objects
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AC_PID _pid_atti_rate_roll;
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AC_PID _pid_atti_rate_pitch;
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AC_PID _pid_atti_rate_yaw;
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};
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#endif
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