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/**
* @file ecl_pitch_controller.h
* Definition of a simple orthogonal pitch 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_PITCH_CONTROLLER_H
#define ECL_PITCH_CONTROLLER_H
#include <stdbool.h>
#include <stdint.h>
#include "ecl_controller.h"
class __EXPORT ECL_PitchController :
public ECL_Controller
{
public:
ECL_PitchController();
~ECL_PitchController();
float control_attitude(const struct ECL_ControlData &ctl_data);
float control_bodyrate(const struct ECL_ControlData &ctl_data);
/* Additional Setters */
void set_max_rate_pos(float max_rate_pos) {
_max_rate = 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;
}
protected:
float _max_rate_neg;
float _roll_ff;
};
#endif // ECL_PITCH_CONTROLLER_H