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/****************************************************************************
*
* 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 <systemlib/perf_counter.h>
class __EXPORT ECL_YawController //XXX: create controller superclass
{
public:
ECL_YawController();
~ECL_YawController();
float control_attitude(float roll, float pitch,
float speed_body_u, float speed_body_v, float speed_body_w,
float roll_rate_setpoint, float pitch_rate_setpoint);
float control_bodyrate( float roll, float pitch,
float pitch_rate, float yaw_rate,
float pitch_rate_setpoint,
float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator);
void reset_integrator();
void set_k_p(float k_p) {
_k_p = k_p;
}
void set_k_i(float k_i) {
_k_i = k_i;
}
void set_k_ff(float k_ff) {
_k_ff = k_ff;
}
void set_integrator_max(float max) {
_integrator_max = max;
}
void set_max_rate(float max_rate) {
_max_rate = max_rate;
}
void set_coordinated_min_speed(float coordinated_min_speed) {
_coordinated_min_speed = coordinated_min_speed;
}
float get_rate_error() {
return _rate_error;
}
float get_desired_rate() {
return _rate_setpoint;
}
float get_desired_bodyrate() {
return _bodyrate_setpoint;
}
private:
uint64_t _last_run;
float _k_p;
float _k_i;
float _k_ff;
float _integrator_max;
float _max_rate;
float _roll_ff;
float _last_output;
float _integrator;
float _rate_error;
float _rate_setpoint;
float _bodyrate_setpoint;
float _coordinated_min_speed;
perf_counter_t _nonfinite_input_perf;
};
#endif // ECL_YAW_CONTROLLER_H
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