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/**
* @file ecl_yaw_controller.h
* Definition of a simple orthogonal coordinated turn yaw PID controller.
*
*/
#ifndef ECL_YAW_CONTROLLER_H
#define ECL_YAW_CONTROLLER_H
#include <stdbool.h>
#include <stdint.h>
class __EXPORT ECL_YawController
{
public:
ECL_YawController();
float control(float roll, float yaw_rate, float accel_y, float scaler = 1.0f, bool lock_integrator = false,
float airspeed_min = 0, float airspeed_max = 0, float aspeed = (0.0f / 0.0f));
void reset_integrator();
void set_k_side(float k_a) {
_k_side = k_a;
}
void set_k_i(float k_i) {
_k_i = k_i;
}
void set_k_d(float k_d) {
_k_d = k_d;
}
void set_k_roll_ff(float k_roll_ff) {
_k_roll_ff = k_roll_ff;
}
void set_integrator_max(float max) {
_integrator_max = max;
}
private:
uint64_t _last_run;
float _k_side;
float _k_i;
float _k_d;
float _k_roll_ff;
float _integrator_max;
float _last_error;
float _last_output;
float _last_rate_hp_out;
float _last_rate_hp_in;
float _k_d_last;
float _integrator;
};
#endif // ECL_YAW_CONTROLLER_H