/****************************************************************************
*
* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
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* 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.
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* used to endorse or promote products derived from this software
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****************************************************************************/
/**
* @file ecl_pitch_controller.h
* Definition of a simple orthogonal pitch PID controller.
*
*/
#ifndef ECL_PITCH_CONTROLLER_H
#define ECL_PITCH_CONTROLLER_H
#include <stdbool.h>
#include <stdint.h>
class __EXPORT ECL_PitchController
{
public:
ECL_PitchController();
float control(float pitch_setpoint, float pitch, float pitch_rate, float roll, float scaler = 1.0f,
bool lock_integrator = false, float airspeed_min = 0.0f, float airspeed_max = 0.0f, float airspeed = (0.0f / 0.0f));
void reset_integrator();
void set_time_constant(float time_constant) {
_tc = time_constant;
}
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_d(float k_d) {
_k_d = k_d;
}
void set_integrator_max(float max) {
_integrator_max = max;
}
void set_max_rate_pos(float max_rate_pos) {
_max_rate_pos = max_rate_pos;
}
void set_max_rate_neg(float max_rate_neg) {
_max_rate_neg = max_rate_neg;
}
void set_roll_ff(float roll_ff) {
_roll_ff = roll_ff;
}
float get_rate_error() {
return _rate_error;
}
float get_desired_rate() {
return _desired_rate;
}
private:
uint64_t _last_run;
float _tc;
float _k_p;
float _k_i;
float _k_d;
float _integrator_max;
float _max_rate_pos;
float _max_rate_neg;
float _roll_ff;
float _last_output;
float _integrator;
float _rate_error;
float _rate_setpoint;
float _max_deflection_rad;
};
#endif // ECL_PITCH_CONTROLLER_H
