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Diffstat (limited to 'src/lib/ecl/attitude_fw/ecl_controller.h')
-rw-r--r-- | src/lib/ecl/attitude_fw/ecl_controller.h | 119 |
1 files changed, 119 insertions, 0 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_controller.h b/src/lib/ecl/attitude_fw/ecl_controller.h new file mode 100644 index 000000000..9880d1c17 --- /dev/null +++ b/src/lib/ecl/attitude_fw/ecl_controller.h @@ -0,0 +1,119 @@ +/**************************************************************************** + * + * 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.h + * 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. + */ + +#pragma once + +#include <stdbool.h> +#include <stdint.h> +#include <systemlib/perf_counter.h> + +struct ECL_ControlData { + float roll; + float pitch; + float yaw; + float roll_rate; + float pitch_rate; + float yaw_rate; + float speed_body_u; + float speed_body_v; + float speed_body_w; + float roll_setpoint; + float pitch_setpoint; + float yaw_setpoint; + float roll_rate_setpoint; + float pitch_rate_setpoint; + float yaw_rate_setpoint; + float airspeed_min; + float airspeed_max; + float airspeed; + float scaler; + bool lock_integrator; +}; + +class __EXPORT ECL_Controller +{ +public: + ECL_Controller(const char *name); + + ~ECL_Controller(); + + virtual float control_attitude(const struct ECL_ControlData &ctl_data) = 0; + virtual float control_bodyrate(const struct ECL_ControlData &ctl_data) = 0; + + /* Setters */ + void set_time_constant(float time_constant); + void set_k_p(float k_p); + void set_k_i(float k_i); + void set_k_ff(float k_ff); + void set_integrator_max(float max); + void set_max_rate(float max_rate); + + /* Getters */ + float get_rate_error(); + float get_desired_rate(); + float get_desired_bodyrate(); + + void reset_integrator(); + +protected: + uint64_t _last_run; + float _tc; + float _k_p; + float _k_i; + float _k_ff; + float _integrator_max; + float _max_rate; + float _last_output; + float _integrator; + float _rate_error; + float _rate_setpoint; + float _bodyrate_setpoint; + perf_counter_t _nonfinite_input_perf; + static const uint8_t _perf_name_max = 40; + char _perf_name[_perf_name_max]; +}; |