mirror of https://github.com/ArduPilot/ardupilot
46 lines
985 B
C++
46 lines
985 B
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#ifndef AP_YawController_h
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#define AP_YawController_h
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#include <FastSerial.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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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 stick_movement = false);
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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 _kp;
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AP_Float _ki;
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AP_Int16 _imax;
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uint32_t _last_t;
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float _last_error;
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float _integrator;
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bool _stick_movement;
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uint32_t _stick_movement_begin;
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uint32_t _freeze_start_time;
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AP_AHRS *_ahrs;
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AP_InertialSensor *_ins;
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// Low pass filter cut frequency for derivative calculation.
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// FCUT macro computes a frequency cut based on an acceptable delay.
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#define FCUT(d) (1 / ( 2 * 3.14 * (d) ) )
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static const float _fCut = FCUT(.5);
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};
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#endif
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