diff options
Diffstat (limited to 'src/lib/ecl/l1/ecl_l1_pos_controller.h')
| -rw-r--r-- | src/lib/ecl/l1/ecl_l1_pos_controller.h | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/src/lib/ecl/l1/ecl_l1_pos_controller.h b/src/lib/ecl/l1/ecl_l1_pos_controller.h index 5a17346cb..7a3c42a92 100644 --- a/src/lib/ecl/l1/ecl_l1_pos_controller.h +++ b/src/lib/ecl/l1/ecl_l1_pos_controller.h @@ -222,6 +222,15 @@ public: _K_L1 = 4.0f * _L1_damping * _L1_damping; } + + /** + * Set the maximum roll angle output in radians + * + */ + void set_l1_roll_limit(float roll_lim_rad) { + _roll_lim_rad = roll_lim_rad; + } + private: float _lateral_accel; ///< Lateral acceleration setpoint in m/s^2 @@ -238,6 +247,8 @@ private: float _K_L1; ///< L1 control gain for _L1_damping float _heading_omega; ///< Normalized frequency + float _roll_lim_rad; ///<maximum roll angle + /** * Convert a 2D vector from WGS84 to planar coordinates. * |