diff options
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_base.h | 19 |
1 files changed, 12 insertions, 7 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_base.h b/src/modules/mc_att_control/mc_att_control_base.h index 995838bb2..8f1cf015e 100644 --- a/src/modules/mc_att_control/mc_att_control_base.h +++ b/src/modules/mc_att_control/mc_att_control_base.h @@ -76,6 +76,8 @@ #include <systemlib/perf_counter.h> //#include <systemlib/systemlib.h> #include <lib/mathlib/mathlib.h> +#include <Eigen/Eigen> + /** @@ -105,6 +107,14 @@ public: * * @return OK on success. */ + void control_attitude(float dt); + void control_attitude_rates(float dt); + // 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); + void set_actuator_controls(); protected: @@ -161,15 +171,10 @@ protected: /** * Attitude rates controller. */ - void control_attitude(float dt); - void control_attitude_rates(float dt); - + void vehicle_attitude_setpoint_poll(); //provisional - // 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); + |