/****************************************************************************
*
* 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
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****************************************************************************/
/**
* @file ecl_pitch_controller.cpp
* Implementation of a simple orthogonal pitch PID controller.
*
*/
#include "ecl_pitch_controller.h"
ECL_PitchController::ECL_PitchController() :
_last_run(0),
_last_output(0.0f),
_integrator(0.0f),
_rate_error(0.0f),
_desired_rate(0.0f)
{
}
float ECL_PitchController::control(float pitch_setpoint, float pitch, float pitch_rate, float roll, float scaler,
bool lock_integrator, float airspeed_min, float airspeed_max, float aspeed)
{
return 0.0f;
}
void ECL_PitchController::reset_integrator()
{
_integrator = 0.0f;
}