2012-08-04 19:12:36 -03:00
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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2012-08-11 20:44:21 -03:00
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* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Laurens Mackay <mackayl@student.ethz.ch>
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* @author Tobias Naegeli <naegelit@student.ethz.ch>
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* @author Martin Rutschmann <rutmarti@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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2012-08-04 19:12:36 -03:00
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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2012-08-11 20:44:21 -03:00
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/*
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* @file attitude_control.h
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* attitude control for multi rotors
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*/
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2012-08-04 19:12:36 -03:00
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#ifndef ATTITUDE_CONTROL_H_
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#define ATTITUDE_CONTROL_H_
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#include <uORB/uORB.h>
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#include <uORB/topics/rc_channels.h>
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#include <uORB/topics/vehicle_attitude.h>
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2012-08-11 20:25:41 -03:00
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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2012-08-04 19:12:36 -03:00
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#include <uORB/topics/ardrone_control.h>
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#include <uORB/topics/vehicle_status.h>
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2012-08-14 04:08:31 -03:00
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void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
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const struct vehicle_status_s *status, bool verbose,
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float* roll_output, float* pitch_output, float* yaw_output, float* thrust_output);
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void ardrone_mixing_and_output(int ardrone_write, float roll_control, float pitch_control, float yaw_control, float motor_thrust, bool verbose);
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2012-08-04 19:12:36 -03:00
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#endif /* ATTITUDE_CONTROL_H_ */
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