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/**
* @file ecl_roll_controller.h
* Definition of a simple orthogonal roll 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_ROLL_CONTROLLER_H
#define ECL_ROLL_CONTROLLER_H
#include <stdbool.h>
#include <stdint.h>
class __EXPORT ECL_RollController //XXX: create controller superclass
{
public:
ECL_RollController();
float control_attitude(float roll_setpoint, float roll);
float control_bodyrate(float pitch,
float roll_rate, float yaw_rate,
float yaw_rate_setpoint,
float airspeed_min = 0.0f, float airspeed_max = 0.0f, float airspeed = (0.0f / 0.0f), float scaler = 1.0f, bool lock_integrator = false);
void reset_integrator();
void set_time_constant(float time_constant) {
if (time_constant > 0.1f && time_constant < 3.0f) {
_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(float max_rate) {
_max_rate = max_rate;
}
float get_rate_error() {
return _rate_error;
}
float get_desired_rate() {
return _rate_setpoint;
}
float get_desired_bodyrate() {
return _bodyrate_setpoint;
}
private:
uint64_t _last_run;
float _tc;
float _k_p;
float _k_i;
float _k_d;
float _integrator_max;
float _max_rate;
float _last_output;
float _integrator;
float _rate_error;
float _rate_setpoint;
float _bodyrate_setpoint;
};
#endif // ECL_ROLL_CONTROLLER_H