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 | 13 |
1 files changed, 11 insertions, 2 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h index ab7dce2b1..b108ad98d 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h @@ -76,11 +76,20 @@ public: protected: float _coordinated_min_speed; - int32_t _coordinated_method;; - float control_attitude_impl_openloop(const struct ECL_ControlData &ctl_data); + enum { + COORD_METHOD_OPEN = 0, + COORD_METHOD_CLOSEACC = 1, + }; + + int32_t _coordinated_method; + float control_bodyrate_impl(const struct ECL_ControlData &ctl_data); + float control_attitude_impl_openloop(const struct ECL_ControlData &ctl_data); + + float control_attitude_impl_accclosedloop(const struct ECL_ControlData &ctl_data); + }; #endif // ECL_YAW_CONTROLLER_H |