ardupilot/libraries/APM_Control/AP_YawController.h

47 lines
890 B
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
#ifndef __AP_YAW_CONTROLLER_H__
#define __AP_YAW_CONTROLLER_H__
#include <AP_AHRS.h>
#include <AP_Common.h>
#include <math.h> // for fabs()
class AP_YawController {
public:
AP_YawController()
{
AP_Param::setup_object_defaults(this, var_info);
}
void set_ahrs(AP_AHRS *ahrs) {
_ahrs = ahrs;
_ins = _ahrs->get_ins();
}
int32_t get_servo_out(float scaler = 1.0, bool stick_movement = false);
void reset_I();
static const struct AP_Param::GroupInfo var_info[];
private:
AP_Float _kp;
AP_Float _ki;
AP_Int16 _imax;
uint32_t _last_t;
float _last_error;
float _integrator;
bool _stick_movement;
uint32_t _stick_movement_begin;
uint32_t _freeze_start_time;
AP_AHRS *_ahrs;
AP_InertialSensor *_ins;
static const float _fCut;
};
#endif // __AP_YAW_CONTROLLER_H__