forked from Archive/PX4-Autopilot
90 lines
2.8 KiB
C
90 lines
2.8 KiB
C
|
/****************************************************************************
|
||
|
|
*
|
||
|
|
* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
|
||
|
|
*
|
||
|
|
* Redistribution and use in source and binary forms, with or without
|
||
|
|
* modification, are permitted provided that the following conditions
|
||
|
|
* are met:
|
||
|
|
*
|
||
|
|
* 1. Redistributions of source code must retain the above copyright
|
||
|
|
* notice, this list of conditions and the following disclaimer.
|
||
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||
|
|
* notice, this list of conditions and the following disclaimer in
|
||
|
|
* the documentation and/or other materials provided with the
|
||
|
|
* distribution.
|
||
|
|
* 3. Neither the name ECL nor the names of its contributors may be
|
||
|
|
* used to endorse or promote products derived from this software
|
||
|
|
* without specific prior written permission.
|
||
|
|
*
|
||
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
*
|
||
|
|
****************************************************************************/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @file ecl_pitch_controller.h
|
||
|
|
* Definition of a simple orthogonal pitch PID controller.
|
||
|
|
*
|
||
|
|
* @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.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef ECL_PITCH_CONTROLLER_H
|
||
|
|
#define ECL_PITCH_CONTROLLER_H
|
||
|
|
|
||
|
|
#include <stdbool.h>
|
||
|
|
#include <stdint.h>
|
||
|
|
|
||
|
|
#include "ecl_controller.h"
|
||
|
|
|
||
|
|
class __EXPORT ECL_PitchController :
|
||
|
|
public ECL_Controller
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
ECL_PitchController();
|
||
|
|
|
||
|
|
~ECL_PitchController();
|
||
|
|
|
||
|
|
float control_attitude(const struct ECL_ControlData &ctl_data);
|
||
|
|
float control_bodyrate(const struct ECL_ControlData &ctl_data);
|
||
|
|
|
||
|
|
/* Additional Setters */
|
||
|
|
void set_max_rate_pos(float max_rate_pos)
|
||
|
|
{
|
||
|
|
_max_rate = max_rate_pos;
|
||
|
|
}
|
||
|
|
|
||
|
|
void set_max_rate_neg(float max_rate_neg)
|
||
|
|
{
|
||
|
|
_max_rate_neg = max_rate_neg;
|
||
|
|
}
|
||
|
|
|
||
|
|
void set_roll_ff(float roll_ff)
|
||
|
|
{
|
||
|
|
_roll_ff = roll_ff;
|
||
|
|
}
|
||
|
|
|
||
|
|
protected:
|
||
|
|
float _max_rate_neg;
|
||
|
|
float _roll_ff;
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif // ECL_PITCH_CONTROLLER_H
|