mirror of https://github.com/ArduPilot/ardupilot
46 lines
1.0 KiB
C++
46 lines
1.0 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_PITCH_CONTROLLER_H__
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#define __AP_PITCH_CONTROLLER_H__
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#include <AP_AHRS.h>
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#include <AP_Common.h>
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#include <math.h> // for fabs()
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class AP_PitchController {
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public:
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AP_PitchController() {
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AP_Param::setup_object_defaults(this, var_info);
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}
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void set_ahrs(AP_AHRS *ahrs) { _ahrs = ahrs; }
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int32_t get_rate_out(float desired_rate, float scaler = 1.0);
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int32_t get_servo_out(int32_t angle_err, float scaler = 1.0, bool stabilize = false, int16_t aspd_min = 0, int16_t aspd_max = 0);
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void reset_I();
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static const struct AP_Param::GroupInfo var_info[];
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private:
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AP_Float _tau;
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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_Int16 _max_rate_pos;
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AP_Int16 _max_rate_neg;
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AP_Float _roll_ff;
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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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float _integrator;
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int32_t _get_rate_out(float desired_rate, float scaler, bool stabilize, float aspeed, int16_t aspd_min);
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AP_AHRS *_ahrs;
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};
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#endif // __AP_PITCH_CONTROLLER_H__
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