mirror of https://github.com/ArduPilot/ardupilot
47 lines
1006 B
C++
47 lines
1006 B
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#ifndef __AP_ROLL_CONTROLLER_H__
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#define __AP_ROLL_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_RollController {
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public:
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AP_RollController() {
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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);
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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_angle;
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AP_Float _kp_ff;
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AP_Float _kp_rate;
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AP_Float _ki_rate;
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AP_Float _stabilize_gain;
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AP_Int16 _max_rate;
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uint32_t _last_t;
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float _last_rate;
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float _integrator;
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AP_AHRS *_ahrs;
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/// Low pass filter cut frequency for derivative calculation.
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///
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/// 20 Hz becasue anything over that is probably noise, see
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/// http://en.wikipedia.org/wiki/Low-pass_filter.
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///
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static const uint8_t _fCut = 20;
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};
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#endif // __AP_ROLL_CONTROLLER_H__
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