/**************************************************************************** * * 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_roll_controller.h * Definition of a simple orthogonal roll PID controller. * * @author Lorenz Meier * @author Thomas Gubler * * 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_ROLL_CONTROLLER_H #define ECL_ROLL_CONTROLLER_H #include "ecl_controller.h" class __EXPORT ECL_RollController final : public ECL_Controller { public: ECL_RollController() = default; ~ECL_RollController() = default; float control_attitude(const struct ECL_ControlData &ctl_data) override; float control_euler_rate(const struct ECL_ControlData &ctl_data) override; float control_bodyrate(const struct ECL_ControlData &ctl_data) override; }; #endif // ECL_ROLL_CONTROLLER_H