diff options
Diffstat (limited to 'src/lib/ecl/attitude_fw/ecl_yaw_controller.h')
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_yaw_controller.h | 10 |
1 files changed, 10 insertions, 0 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h index 37c03705e..ab7dce2b1 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h @@ -62,6 +62,7 @@ public: ~ECL_YawController(); float control_attitude(const struct ECL_ControlData &ctl_data); + float control_bodyrate(const struct ECL_ControlData &ctl_data); /* Additional setters */ @@ -69,8 +70,17 @@ public: _coordinated_min_speed = coordinated_min_speed; } + void set_coordinated_method(int32_t coordinated_method) { + _coordinated_method = coordinated_method; + } + protected: float _coordinated_min_speed; + int32_t _coordinated_method;; + + float control_attitude_impl_openloop(const struct ECL_ControlData &ctl_data); + float control_bodyrate_impl(const struct ECL_ControlData &ctl_data); + }; #endif // ECL_YAW_CONTROLLER_H |