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Diffstat (limited to 'src/lib/ecl/attitude_fw/ecl_yaw_controller.h')
-rw-r--r-- | src/lib/ecl/attitude_fw/ecl_yaw_controller.h | 89 |
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 |