diff options
Diffstat (limited to 'src/lib/ecl/attitude_fw/ecl_roll_controller.cpp')
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_roll_controller.cpp | 19 |
1 files changed, 12 insertions, 7 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp index 1152b2964..6de30fc33 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -39,6 +39,11 @@ #include "../ecl.h" #include "ecl_roll_controller.h" +#include <stdint.h> +#include <float.h> +#include <geo/geo.h> +#include <ecl/ecl.h> +#include <mathlib/mathlib.h> ECL_RollController::ECL_RollController() : _last_run(0), @@ -61,7 +66,7 @@ float ECL_RollController::control(float roll_setpoint, float roll, float roll_ra float dt = (dt_micros > 500000) ? 0.0f : dt_micros / 1000000; - float k_ff = max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f); + float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f); float k_i_rate = _k_i * _tc; /* input conditioning */ @@ -86,7 +91,7 @@ float ECL_RollController::control(float roll_setpoint, float roll, float roll_ra float ilimit_scaled = 0.0f; - if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5 * airspeed_min) { + if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) { float id = _rate_error * k_i_rate * dt * scaler; @@ -96,21 +101,21 @@ float ECL_RollController::control(float roll_setpoint, float roll, float roll_ra */ if (_last_output < -_max_deflection_rad) { /* only allow motion to center: increase value */ - id = max(id, 0.0f); + id = math::max(id, 0.0f); } else if (_last_output > _max_deflection_rad) { /* only allow motion to center: decrease value */ - id = min(id, 0.0f); + id = math::min(id, 0.0f); } _integrator += id; } /* integrator limit */ - _integrator = constrain(_integrator, -ilimit_scaled, ilimit_scaled); + _integrator = math::constrain(_integrator, -ilimit_scaled, ilimit_scaled); /* store non-limited output */ - _last_output = ((_rate_error * _k_d * scaler) + _integrator + (_rate_setpoint * k_roll_ff)) * scaler; + _last_output = ((_rate_error * _k_d * scaler) + _integrator + (_rate_setpoint * k_ff)) * scaler; - return constrain(_last_output, -_max_deflection_rad, _max_deflection_rad); + return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad); } void ECL_RollController::reset_integrator() |