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/**
* @file ecl_roll_controller.cpp
* Implementation of a simple orthogonal roll PID controller.
*
*/
#include "../ecl.h"
#include "ecl_roll_controller.h"
ECL_RollController::ECL_RollController() :
_last_run(0),
_tc(0.1f),
_last_output(0.0f),
_integrator(0.0f),
_rate_error(0.0f),
_desired_rate(0.0f)
{
}
float ECL_RollController::control(float roll_setpoint, float roll, float roll_rate,
float scaler, bool lock_integrator, float airspeed_min, float airspeed_max, float aspeed)
{
/* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run);
_last_run = ecl_absolute_time();
float dt = (dt_micros > 500000) ? 0.0f : dt_micros / 1000000;
return 0.0f;
}
void ECL_RollController::reset_integrator()
{
_integrator = 0.0f;
}