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Diffstat (limited to 'apps/multirotor_position_control/attitude_control.h')
-rw-r--r-- | apps/multirotor_position_control/attitude_control.h | 52 |
1 files changed, 52 insertions, 0 deletions
diff --git a/apps/multirotor_position_control/attitude_control.h b/apps/multirotor_position_control/attitude_control.h new file mode 100644 index 000000000..a93a511ba --- /dev/null +++ b/apps/multirotor_position_control/attitude_control.h @@ -0,0 +1,52 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler <thomasgubler@student.ethz.ch> + * Julian Oes <joes@student.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 attitude control for quadrotors */ + +#ifndef ATTITUDE_CONTROL_H_ +#define ATTITUDE_CONTROL_H_ + +#include <uORB/uORB.h> +#include <uORB/topics/rc_channels.h> +#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/ardrone_control.h> +#include <uORB/topics/vehicle_status.h> + +void control_attitude(float roll, float pitch, float yaw, float thrust, const struct vehicle_attitude_s *att, + const struct vehicle_status_s *status, int ardrone_pub, + struct ardrone_control_s *ar_control); + +#endif /* ATTITUDE_CONTROL_H_ */ |