mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-08 08:58:29 -04:00
716c124f73
Gain definitions in roll and pitch controllers were updated previously so that the old PID tuning values could be transferred across. Updated tuning guide for revised gain definition.
42 lines
851 B
C++
42 lines
851 B
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_servo_out(int32_t angle, 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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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_PITCH_CONTROLLER_H__
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