mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.0 KiB
C++
51 lines
1.0 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.h>
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#include <AP_Common.h>
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#include <AP_Vehicle.h>
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#include <math.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.
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*/
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int32_t get_steering_out(float desired_accel);
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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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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_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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float _integrator;
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AP_AHRS &_ahrs;
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};
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#endif // __AP_STEER_CONTROLLER_H__
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