px4-firmware/attitude_fw/ecl_controller.h

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/**
 * @file ecl_controller.h
 * Definition of base class for other controllers
 *
 * @author Lorenz Meier <lm@inf.ethz.ch>
 * @author Thomas Gubler <thomasgubler@gmail.com>
 *
 * Acknowledgements:
 *
 *   The control design is based on a design
 *   by Paul Riseborough and Andrew Tridgell, 2013,
 *   which in turn is based on initial work of
 *   Jonathan Challinger, 2012.
 */

#pragma once

#include "ecl/ecl.h"
#include "mathlib/mathlib.h"

struct ECL_ControlData {
	float roll;
	float pitch;
	float yaw;
	float body_x_rate;
	float body_y_rate;
	float body_z_rate;
	float roll_setpoint;
	float pitch_setpoint;
	float yaw_setpoint;
	float roll_rate_setpoint;
	float pitch_rate_setpoint;
	float yaw_rate_setpoint;
	float airspeed_min;
	float airspeed_max;
	float airspeed;
	float scaler;
	float groundspeed;
	float groundspeed_scaler;
	bool lock_integrator;
};

class __EXPORT ECL_Controller
{
public:
	ECL_Controller() = default;
	~ECL_Controller() = default;

	virtual float control_attitude(const struct ECL_ControlData &ctl_data) = 0;
	virtual float control_euler_rate(const struct ECL_ControlData &ctl_data) = 0;
	virtual float control_bodyrate(const struct ECL_ControlData &ctl_data) = 0;

	/* Setters */
	void set_time_constant(float time_constant);
	void set_k_p(float k_p);
	void set_k_i(float k_i);
	void set_k_ff(float k_ff);
	void set_integrator_max(float max);
	void set_max_rate(float max_rate);
	void set_bodyrate_setpoint(float rate) { _bodyrate_setpoint = rate; }

	/* Getters */
	float get_rate_error();
	float get_desired_rate();
	float get_desired_bodyrate();

	void reset_integrator();

protected:
	uint64_t _last_run{0};

	float _tc{0.5f};
	float _k_p{0.0f};
	float _k_i{0.0f};
	float _k_ff{0.0f};

	float _integrator_max{0.0f};
	float _integrator{0.0f};

	float _rate_setpoint{0.0f};
	float _bodyrate_setpoint{0.0f};

	float _max_rate{0.0f};
	float _rate_error{0.0f};
	float _last_output{0.0f};

	float constrain_airspeed(float airspeed, float minspeed, float maxspeed);
};