diff options
Diffstat (limited to 'src/modules/mc_att_control/mc_att_control_base.h')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_base.h | 134 |
1 files changed, 0 insertions, 134 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_base.h b/src/modules/mc_att_control/mc_att_control_base.h deleted file mode 100644 index cf4c726a7..000000000 --- a/src/modules/mc_att_control/mc_att_control_base.h +++ /dev/null @@ -1,134 +0,0 @@ -#ifndef MC_ATT_CONTROL_BASE_H_ -#define MC_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 mc_att_control_base.h - * - * MC Attitude Controller : Control and math code - * - * @author Tobias Naegeli <naegelit@student.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Anton Babushkin <anton.babushkin@me.com> - * @author Thomas Gubler <thomasgubler@gmail.com> - * @author Julian Oes <julian@oes.ch> - * @author Roman Bapst <bapstr@ethz.ch> - * - */ -#include <px4.h> -#include <stdio.h> -#include <stdlib.h> -#include <string.h> -#include <unistd.h> -#include <errno.h> -#include <math.h> - -#include <systemlib/perf_counter.h> -#include <lib/mathlib/mathlib.h> - - - -#define YAW_DEADZONE 0.05f -#define MIN_TAKEOFF_THRUST 0.2f -#define RATES_I_LIMIT 0.3f - -class MulticopterAttitudeControlBase -{ -public: - /** - * Constructor - */ - MulticopterAttitudeControlBase(); - - /** - * Destructor - */ - ~MulticopterAttitudeControlBase(); - - /** - * Start the sensors task. - * - * @return OK on success. - */ - void control_attitude(float dt); - void control_attitude_rates(float dt); - - void set_actuator_controls(); - -protected: - px4::PX4_SUBSCRIBER(vehicle_attitude) *_v_att; /**< vehicle attitude */ - px4::PX4_SUBSCRIBER(vehicle_attitude_setpoint) *_v_att_sp; /**< vehicle attitude setpoint */ - px4::PX4_SUBSCRIBER(vehicle_rates_setpoint) *_v_rates_sp; /**< vehicle rates setpoint */ - px4::PX4_SUBSCRIBER(vehicle_control_mode) *_v_control_mode; /**< vehicle control mode */ - px4::PX4_SUBSCRIBER(parameter_update) *_parameter_update; /**< parameter update */ - px4::PX4_SUBSCRIBER(manual_control_setpoint) *_manual_control_sp; /**< manual control setpoint */ - px4::PX4_SUBSCRIBER(actuator_armed) *_armed; /**< actuator arming status */ - px4::PX4_SUBSCRIBER(vehicle_status) *_v_status; /**< vehicle status */ - - PX4_TOPIC_T(vehicle_attitude_setpoint) _v_att_sp_mod; /**< modified vehicle attitude setpoint - that gets published eventually */ - PX4_TOPIC_T(vehicle_rates_setpoint) _v_rates_sp_mod; /**< vehicle rates setpoint - that gets published eventually*/ - PX4_TOPIC_T(actuator_controls) _actuators; /**< actuator controls */ - - math::Vector<3> _rates_prev; /**< angular rates on previous step */ - math::Vector<3> _rates_sp; /**< angular rates setpoint */ - math::Vector<3> _rates_int; /**< angular rates integral error */ - float _thrust_sp; /**< thrust setpoint */ - math::Vector<3> _att_control; /**< attitude control vector */ - - math::Matrix<3, 3> _I; /**< identity matrix */ - - bool _reset_yaw_sp; /**< reset yaw setpoint flag */ - - struct { - math::Vector<3> att_p; /**< P gain for angular error */ - math::Vector<3> rate_p; /**< P gain for angular rate error */ - math::Vector<3> rate_i; /**< I gain for angular rate error */ - math::Vector<3> rate_d; /**< D gain for angular rate error */ - float yaw_ff; /**< yaw control feed-forward */ - float yaw_rate_max; /**< max yaw rate */ - - float man_roll_max; - float man_pitch_max; - float man_yaw_max; - math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */ - - int32_t autostart_id; - } _params; - - bool _publish_att_sp; - -}; - -#endif /* MC_ATT_CONTROL_BASE_H_ */ |