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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-18 18:28:49 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-18 18:28:49 +0200 |
commit | b0b72b11eb6c112d3fb58385f5681af55dd5605a (patch) | |
tree | b5c9548cc4619919fab7015df2a390de70578ac3 /apps/multirotor_att_control/multirotor_rate_control.h | |
parent | 3816327977166cbb68ba94aae4b316651cd70ba3 (diff) | |
parent | df034330340aa1f938adbc1ed8840689ead41d89 (diff) | |
download | px4-firmware-b0b72b11eb6c112d3fb58385f5681af55dd5605a.tar.gz px4-firmware-b0b72b11eb6c112d3fb58385f5681af55dd5605a.tar.bz2 px4-firmware-b0b72b11eb6c112d3fb58385f5681af55dd5605a.zip |
Reworking control infrastructure for inner rate loop, preparing offboard interface
Diffstat (limited to 'apps/multirotor_att_control/multirotor_rate_control.h')
-rw-r--r-- | apps/multirotor_att_control/multirotor_rate_control.h | 56 |
1 files changed, 56 insertions, 0 deletions
diff --git a/apps/multirotor_att_control/multirotor_rate_control.h b/apps/multirotor_att_control/multirotor_rate_control.h new file mode 100644 index 000000000..6f34d99e7 --- /dev/null +++ b/apps/multirotor_att_control/multirotor_rate_control.h @@ -0,0 +1,56 @@ +/**************************************************************************** + * + * 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_RATE_CONTROL_H_ +#define MULTIROTOR_RATE_CONTROL_H_ + +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/vehicle_attitude_setpoint.h> +#include <uORB/topics/actuator_controls.h> + +void multirotor_control_rates(const struct vehicle_attitude_setpoint_s *rate_sp, + const float rates[], struct actuator_controls_s *actuators); + +#endif /* MULTIROTOR_RATE_CONTROL_H_ */ |