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author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-05 16:12:15 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-05 16:12:22 +0100 |
commit | 5876ff11ec90ca8dee22ee0509ffaec2b561d2fd (patch) | |
tree | 02b1ab3af4fa259206314556448609b340373f7a /src/modules/mc_att_control_multiplatform/mc_att_control_sim.h | |
parent | 941ff05720b4ba8c282a84e1f8933469ae7fc39e (diff) | |
download | px4-firmware-5876ff11ec90ca8dee22ee0509ffaec2b561d2fd.tar.gz px4-firmware-5876ff11ec90ca8dee22ee0509ffaec2b561d2fd.tar.bz2 px4-firmware-5876ff11ec90ca8dee22ee0509ffaec2b561d2fd.zip |
mc att control multiplatform alongside normal mc att control
Diffstat (limited to 'src/modules/mc_att_control_multiplatform/mc_att_control_sim.h')
-rw-r--r-- | src/modules/mc_att_control_multiplatform/mc_att_control_sim.h | 97 |
1 files changed, 97 insertions, 0 deletions
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control_sim.h b/src/modules/mc_att_control_multiplatform/mc_att_control_sim.h new file mode 100644 index 000000000..a1bf44fc9 --- /dev/null +++ b/src/modules/mc_att_control_multiplatform/mc_att_control_sim.h @@ -0,0 +1,97 @@ +#ifndef MC_ATT_CONTROL_BASE_H_ +#define MC_ATT_CONTROL_BASE_H_ + +/* Copyright (c) 2014 PX4 Development Team. All rights reserved. +* +* 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 mc_att_control_sim.h + * + * MC Attitude Controller Interface for usage in a simulator + * + * @author Roman Bapst <bapstr@ethz.ch> + * + */ + +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <unistd.h> +#include <errno.h> +#include <math.h> +#include <drivers/drv_hrt.h> + +#include <uORB/topics/vehicle_attitude_setpoint.h> +#include <uORB/topics/manual_control_setpoint.h> +#include <uORB/topics/actuator_controls.h> +#include <uORB/topics/vehicle_rates_setpoint.h> +#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/vehicle_control_mode.h> +#include <uORB/topics/actuator_armed.h> +#include <systemlib/err.h> +#include <systemlib/perf_counter.h> +#include <lib/mathlib/mathlib.h> +#inlcude "mc_att_control_base.h" + + + +#define YAW_DEADZONE 0.05f +#define MIN_TAKEOFF_THRUST 0.2f +#define RATES_I_LIMIT 0.3f + +class MulticopterAttitudeControlSim : + public MulticopterAttitudeControlBase + +{ +public: + /** + * Constructor + */ + MulticopterAttitudeControlSim(); + + /** + * Destructor + */ + ~MulticopterAttitudeControlSim(); + + /* setters and getters for interface with euroc-gazebo simulator */ + void set_attitude(const Eigen::Quaternion<double> attitude); + void set_attitude_rates(const Eigen::Vector3d &angular_rate); + void set_attitude_reference(const Eigen::Vector4d &control_attitude_thrust_reference); + void get_mixer_input(Eigen::Vector4d &motor_inputs); + +protected: + void vehicle_attitude_setpoint_poll() {}; + + +}; + +#endif /* MC_ATT_CONTROL_BASE_H_ */ |