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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-19 15:52:59 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-19 15:52:59 +0200 |
commit | dae0b922f166b1c6af79ecce85b3eb00dde22654 (patch) | |
tree | 2021b1a59a3e1276190ca76f9b9095d160cafa49 /apps/multirotor_att_control/multirotor_attitude_control.h | |
parent | 85bc4f683a4a88cc19a35e1147d19ac5b1106019 (diff) | |
download | px4-firmware-dae0b922f166b1c6af79ecce85b3eb00dde22654.tar.gz px4-firmware-dae0b922f166b1c6af79ecce85b3eb00dde22654.tar.bz2 px4-firmware-dae0b922f166b1c6af79ecce85b3eb00dde22654.zip |
Added deamon example, reworked / merged multirotor attitude control. Ready for AR.Drone interface changes and integration tests
Diffstat (limited to 'apps/multirotor_att_control/multirotor_attitude_control.h')
-rw-r--r-- | apps/multirotor_att_control/multirotor_attitude_control.h | 61 |
1 files changed, 61 insertions, 0 deletions
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.h b/apps/multirotor_att_control/multirotor_attitude_control.h new file mode 100644 index 000000000..c3caa7598 --- /dev/null +++ b/apps/multirotor_att_control/multirotor_attitude_control.h @@ -0,0 +1,61 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Laurens Mackay <mackayl@student.ethz.ch> + * @author Tobias Naegeli <naegelit@student.ethz.ch> + * @author Martin Rutschmann <rutmarti@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * 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. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file multirotor_attitude_control.h + * Attitude control for multi rotors. + */ + +#ifndef MULTIROTOR_ATTITUDE_CONTROL_H_ +#define MULTIROTOR_ATTITUDE_CONTROL_H_ + +#include <uORB/uORB.h> +#include <uORB/topics/rc_channels.h> +#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/vehicle_attitude_setpoint.h> +#include <uORB/topics/ardrone_control.h> +#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/actuator_controls.h> + +void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, + const struct vehicle_status_s *status, struct actuator_controls_s *actuators, bool verbose); + +void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators, bool verbose); + +#endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */ |