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* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
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/**
* @file ecl_controller.h
* Definition of base class for other controllers
*
* @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.
*/
#pragma once
#include <stdbool.h>
#include <stdint.h>
#include <systemlib/perf_counter.h>
struct ECL_ControlData {
float roll;
float pitch;
float yaw;
float roll_rate;
float pitch_rate;
float yaw_rate;
float speed_body_u;
float speed_body_v;
float speed_body_w;
float roll_setpoint;
float pitch_setpoint;
float yaw_setpoint;
float roll_rate_setpoint;
float pitch_rate_setpoint;
float yaw_rate_setpoint;
float airspeed_min;
float airspeed_max;
float airspeed;
float scaler;
bool lock_integrator;
};
class __EXPORT ECL_Controller
{
public:
ECL_Controller(const char *name);
~ECL_Controller();
virtual float control_attitude(const struct ECL_ControlData &ctl_data) = 0;
virtual float control_bodyrate(const struct ECL_ControlData &ctl_data) = 0;
/* Setters */
void set_time_constant(float time_constant);
void set_k_p(float k_p);
void set_k_i(float k_i);
void set_k_ff(float k_ff);
void set_integrator_max(float max);
void set_max_rate(float max_rate);
/* Getters */
float get_rate_error();
float get_desired_rate();
float get_desired_bodyrate();
void reset_integrator();
protected:
uint64_t _last_run;
float _tc;
float _k_p;
float _k_i;
float _k_ff;
float _integrator_max;
float _max_rate;
float _last_output;
float _integrator;
float _rate_error;
float _rate_setpoint;
float _bodyrate_setpoint;
perf_counter_t _nonfinite_input_perf;
static const uint8_t _perf_name_max = 40;
char _perf_name[_perf_name_max];
};