diff options
Diffstat (limited to 'src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp')
-rw-r--r-- | src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp | 63 |
1 files changed, 63 insertions, 0 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp new file mode 100644 index 000000000..0d8a0513f --- /dev/null +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp @@ -0,0 +1,63 @@ +/**************************************************************************** + * + * 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 APL 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_yaw_controller.cpp + * Implementation of a simple orthogonal coordinated turn yaw PID controller. + * + */ + +#include "ecl_yaw_controller.h" + +ECL_YawController::ECL_YawController() : + _last_run(0), + _last_error(0.0f), + _last_output(0.0f), + _last_rate_hp_out(0.0f), + _last_rate_hp_in(0.0f), + _k_d_last(0.0f), + _integrator(0.0f) +{ + +} + +float ECL_YawController::control(float roll, float yaw_rate, float accel_y, float scaler, bool lock_integrator, + float airspeed_min, float airspeed_max, float aspeed) +{ + return 0.0f; +} + +void ECL_YawController::reset_integrator() +{ + _integrator = 0.0f; +} |