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Diffstat (limited to 'src/modules/fw_att_control/fw_att_control_base.h')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_base.h | 151 |
1 files changed, 0 insertions, 151 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_base.h b/src/modules/fw_att_control/fw_att_control_base.h deleted file mode 100644 index bde1b755f..000000000 --- a/src/modules/fw_att_control/fw_att_control_base.h +++ /dev/null @@ -1,151 +0,0 @@ -#ifndef FW_ATT_CONTROL_BASE_H_ -#define FW_ATT_CONTROL_BASE_H_ - -/* Copyright (c) 2014 PX4 Development Team. 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 PX4 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 fw_att_control_base.h - * - * @author Roman Bapst <bapstr@ethz.ch> - * - */ - -#include <ecl/attitude_fw/ecl_pitch_controller.h> -#include <ecl/attitude_fw/ecl_roll_controller.h> -#include <ecl/attitude_fw/ecl_yaw_controller.h> - -#include <uORB/topics/airspeed.h> -#include <uORB/topics/vehicle_attitude_setpoint.h> -#include <uORB/topics/manual_control_setpoint.h> -#include <uORB/topics/actuator_controls.h> -#include <uORB/topics/vehicle_rates_setpoint.h> -#include <uORB/topics/vehicle_attitude.h> -#include <uORB/topics/vehicle_control_mode.h> -#include <uORB/topics/parameter_update.h> -#include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_status.h> - -#include <systemlib/perf_counter.h> - -class FixedwingAttitudeControlBase -{ -public: - /** - * Constructor - */ - FixedwingAttitudeControlBase(); - - /** - * Destructor - */ - ~FixedwingAttitudeControlBase(); - - -protected: - - bool _task_should_exit; /**< if true, sensor task should exit */ - bool _task_running; /**< if true, task is running in its mainloop */ - int _control_task; /**< task handle for sensor task */ - - struct vehicle_attitude_s _att; /**< vehicle attitude */ - struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */ - struct manual_control_setpoint_s _manual; /**< r/c channel data */ - struct airspeed_s _airspeed; /**< airspeed */ - struct vehicle_control_mode_s _vcontrol_mode; /**< vehicle control mode */ - struct actuator_controls_s _actuators; /**< actuator control inputs */ - struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */ - struct vehicle_global_position_s _global_pos; /**< global position */ - struct vehicle_status_s _vehicle_status; /**< vehicle status */ - - perf_counter_t _loop_perf; /**< loop performance counter */ - perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */ - perf_counter_t _nonfinite_output_perf; /**< performance counter for non finite output */ - - bool _setpoint_valid; /**< flag if the position control setpoint is valid */ - bool _debug; /**< if set to true, print debug output */ - - struct { - float tconst; - float p_p; - float p_d; - float p_i; - float p_ff; - float p_rmax_pos; - float p_rmax_neg; - float p_integrator_max; - float p_roll_feedforward; - float r_p; - float r_d; - float r_i; - float r_ff; - float r_integrator_max; - float r_rmax; - float y_p; - float y_i; - float y_d; - float y_ff; - float y_roll_feedforward; - float y_integrator_max; - float y_coordinated_min_speed; - float y_rmax; - - float airspeed_min; - float airspeed_trim; - float airspeed_max; - - float trim_roll; - float trim_pitch; - float trim_yaw; - float rollsp_offset_deg; /**< Roll Setpoint Offset in deg */ - float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */ - float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */ - float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */ - float man_roll_max; /**< Max Roll in rad */ - float man_pitch_max; /**< Max Pitch in rad */ - - } _parameters; /**< local copies of interesting parameters */ - - ECL_RollController _roll_ctrl; - ECL_PitchController _pitch_ctrl; - ECL_YawController _yaw_ctrl; - - void control_attitude(); - - // setters and getters for interface with euroc-gazebo simulator - void set_attitude(const Eigen::Quaternion<double> attitude); - void set_attitude_rates(const Eigen::Vector3d& angular_rate); - void set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference); - void get_mixer_input(Eigen::Vector4d& motor_inputs); - -}; - -#endif /* FW_ATT_CONTROL_BASE_H_ */ |