1 files changed, 89 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
new file mode 100644
index 000000000..cfaa6c233
--- /dev/null
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
@@ -0,0 +1,89 @@
+/****************************************************************************
+ *
+ *   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.h
+ * Definition of a simple orthogonal coordinated turn yaw PID controller.
+ *
+ */
+#ifndef ECL_YAW_CONTROLLER_H
+#define ECL_YAW_CONTROLLER_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+class __EXPORT ECL_YawController
+{
+public:
+	ECL_YawController();
+
+	float control(float roll, float yaw_rate, float accel_y, float scaler = 1.0f, bool lock_integrator = false,
+		      float airspeed_min = 0, float airspeed_max = 0, float aspeed = (0.0f / 0.0f));
+
+	void reset_integrator();
+
+	void set_k_side(float k_a) {
+		_k_side = k_a;
+	}
+	void set_k_i(float k_i) {
+		_k_i = k_i;
+	}
+	void set_k_d(float k_d) {
+		_k_d = k_d;
+	}
+	void set_k_roll_ff(float k_roll_ff) {
+		_k_roll_ff = k_roll_ff;
+	}
+	void set_integrator_max(float max) {
+		_integrator_max = max;
+	}
+
+private:
+	uint64_t _last_run;
+
+	float _k_side;
+	float _k_i;
+	float _k_d;
+	float _k_roll_ff;
+	float _integrator_max;
+
+	float _last_error;
+	float _last_output;
+	float _last_rate_hp_out;
+	float _last_rate_hp_in;
+	float _k_d_last;
+	float _integrator;
+
+};
+
+#endif // ECL_YAW_CONTROLLER_H