diff options
Diffstat (limited to 'src/lib/ecl/attitude_fw/ecl_controller.cpp')
-rw-r--r-- | src/lib/ecl/attitude_fw/ecl_controller.cpp | 128 |
1 files changed, 128 insertions, 0 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_controller.cpp b/src/lib/ecl/attitude_fw/ecl_controller.cpp new file mode 100644 index 000000000..46140fbfd --- /dev/null +++ b/src/lib/ecl/attitude_fw/ecl_controller.cpp @@ -0,0 +1,128 @@ +/**************************************************************************** + * + * Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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 ecl_controller.cpp + * Definition of base class for other controllers + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@gmail.com> + * + * Acknowledgements: + * + * The control design is based on a design + * by Paul Riseborough and Andrew Tridgell, 2013, + * which in turn is based on initial work of + * Jonathan Challinger, 2012. + */ + +#include "ecl_controller.h" + +#include <stdio.h> + +ECL_Controller::ECL_Controller(const char *name) : + _last_run(0), + _tc(0.1f), + _k_p(0.0f), + _k_i(0.0f), + _k_ff(0.0f), + _integrator_max(0.0f), + _max_rate(0.0f), + _last_output(0.0f), + _integrator(0.0f), + _rate_error(0.0f), + _rate_setpoint(0.0f), + _bodyrate_setpoint(0.0f), + _perf_name() +{ + /* Init performance counter */ + snprintf(_perf_name, sizeof(_perf_name), "fw att control %s nonfinite input", name); + _nonfinite_input_perf = perf_alloc(PC_COUNT, _perf_name); +} + +ECL_Controller::~ECL_Controller() +{ + perf_free(_nonfinite_input_perf); +} + +void ECL_Controller::reset_integrator() +{ + _integrator = 0.0f; +} + +void ECL_Controller::set_time_constant(float time_constant) +{ + if (time_constant > 0.1f && time_constant < 3.0f) { + _tc = time_constant; + } +} + +void ECL_Controller::set_k_p(float k_p) +{ + _k_p = k_p; +} + +void ECL_Controller::set_k_i(float k_i) +{ + _k_i = k_i; +} + +void ECL_Controller::set_k_ff(float k_ff) +{ + _k_ff = k_ff; +} + +void ECL_Controller::set_integrator_max(float max) +{ + _integrator_max = max; +} + +void ECL_Controller::set_max_rate(float max_rate) +{ + _max_rate = max_rate; +} + +float ECL_Controller::get_rate_error() +{ + return _rate_error; +} + +float ECL_Controller::get_desired_rate() +{ + return _rate_setpoint; +} + +float ECL_Controller::get_desired_bodyrate() +{ + return _bodyrate_setpoint; +} |