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First stab at actual controller

This commit is contained in:
Lorenz Meier 2013-08-28 11:14:22 +02:00
parent 0104f070c6
commit d0c59ffe54
3 changed files with 57 additions and 1 deletions
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11
src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
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@ -37,10 +37,12 @@
*
*/
#include "../ecl.h"
#include "ecl_roll_controller.h"
ECL_RollController::ECL_RollController() :
_last_run(0),
_tc(0.1f),
_last_output(0.0f),
_integrator(0.0f),
_rate_error(0.0f),
@ -52,6 +54,15 @@ ECL_RollController::ECL_RollController() :
float ECL_RollController::control(float roll_setpoint, float roll, float roll_rate,
float scaler, bool lock_integrator, float airspeed_min, float airspeed_max, float aspeed)
{
/* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run);
_last_run = ecl_absolute_time();
float dt = (dt_micros > 500000) ? 0.0f : dt_micros / 1000000;
return 0.0f;
}

4
src/lib/ecl/attitude_fw/ecl_roll_controller.h
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@ -54,7 +54,9 @@ public:
void reset_integrator();
void set_time_constant(float time_constant) {
_tc = time_constant;
if (time_constant > 0.1f && time_constant < 3.0f) {
_tc = time_constant;
}
}
void set_k_p(float k_p) {
_k_p = k_p;

43
src/lib/ecl/ecl.h Normal file
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@ -0,0 +1,43 @@
/****************************************************************************
*
* 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 APL 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.h
* Adapter / shim layer for system calls needed by ECL
*
*/
#include <drivers/drv_hrt.h>
#define ecl_absolute_time hrt_absolute_time
#define ecl_elapsed_time hrt_elapsed_time