mirror of https://github.com/ArduPilot/ardupilot
48 lines
923 B
C++
48 lines
923 B
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_YAW_CONTROLLER_H__
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#define __AP_YAW_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_YawController {
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public:
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AP_YawController()
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{
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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) {
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_ahrs = ahrs;
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_ins = _ahrs->get_ins();
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}
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int32_t get_servo_out(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 _K_A;
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AP_Float _K_I;
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AP_Float _K_D;
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AP_Float _K_FF;
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uint32_t _last_t;
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float _last_error;
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float _last_out;
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float _last_rate_hp_out;
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float _last_rate_hp_in;
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float _K_D_last;
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float _integrator;
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AP_AHRS *_ahrs;
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AP_InertialSensor *_ins;
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};
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#endif // __AP_YAW_CONTROLLER_H__
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