forked from Archive/PX4-Autopilot
99 lines
3.1 KiB
C++
99 lines
3.1 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_yaw_controller.h
|
|
* Definition of a simple orthogonal coordinated turn yaw 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_YAW_CONTROLLER_H
|
|
#define ECL_YAW_CONTROLLER_H
|
|
|
|
#include <stdbool.h>
|
|
#include <stdint.h>
|
|
|
|
#include "ecl_controller.h"
|
|
|
|
class __EXPORT ECL_YawController :
|
|
public ECL_Controller
|
|
{
|
|
public:
|
|
ECL_YawController();
|
|
|
|
~ECL_YawController();
|
|
|
|
float control_attitude(const struct ECL_ControlData &ctl_data);
|
|
|
|
float control_bodyrate(const struct ECL_ControlData &ctl_data);
|
|
|
|
/* Additional setters */
|
|
void set_coordinated_min_speed(float coordinated_min_speed)
|
|
{
|
|
_coordinated_min_speed = coordinated_min_speed;
|
|
}
|
|
|
|
void set_coordinated_method(int32_t coordinated_method)
|
|
{
|
|
_coordinated_method = coordinated_method;
|
|
}
|
|
|
|
enum {
|
|
COORD_METHOD_OPEN = 0,
|
|
COORD_METHOD_CLOSEACC = 1
|
|
};
|
|
|
|
protected:
|
|
float _coordinated_min_speed;
|
|
float _max_rate;
|
|
|
|
int32_t _coordinated_method;
|
|
|
|
float control_bodyrate_impl(const struct ECL_ControlData &ctl_data);
|
|
|
|
float control_attitude_impl_openloop(const struct ECL_ControlData &ctl_data);
|
|
|
|
float control_attitude_impl_accclosedloop(const struct ECL_ControlData &ctl_data);
|
|
|
|
};
|
|
|
|
#endif // ECL_YAW_CONTROLLER_H
|