mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.1 KiB
C++
52 lines
1.1 KiB
C++
#pragma once
|
|
|
|
#include <AP_AHRS/AP_AHRS.h>
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_Vehicle/AP_Vehicle.h>
|
|
#include <AP_Logger/AP_Logger.h>
|
|
#include <cmath>
|
|
|
|
class AP_YawController {
|
|
public:
|
|
AP_YawController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms)
|
|
: aparm(parms)
|
|
, _ahrs(ahrs)
|
|
{
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
_pid_info.desired = 0;
|
|
_pid_info.FF = 0;
|
|
_pid_info.P = 0;
|
|
}
|
|
|
|
/* Do not allow copies */
|
|
AP_YawController(const AP_YawController &other) = delete;
|
|
AP_YawController &operator=(const AP_YawController&) = delete;
|
|
|
|
int32_t get_servo_out(float scaler, bool disable_integrator);
|
|
|
|
void reset_I();
|
|
|
|
const AP_Logger::PID_Info& get_pid_info(void) const {return _pid_info; }
|
|
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
private:
|
|
const AP_Vehicle::FixedWing &aparm;
|
|
AP_Float _K_A;
|
|
AP_Float _K_I;
|
|
AP_Float _K_D;
|
|
AP_Float _K_FF;
|
|
AP_Int16 _imax;
|
|
uint32_t _last_t;
|
|
float _last_out;
|
|
float _last_rate_hp_out;
|
|
float _last_rate_hp_in;
|
|
float _K_D_last;
|
|
|
|
float _integrator;
|
|
|
|
AP_Logger::PID_Info _pid_info;
|
|
|
|
AP_AHRS &_ahrs;
|
|
};
|