diff options
Diffstat (limited to 'src/modules/multirotor_att_control/multirotor_rate_control.h')
-rw-r--r-- | src/modules/multirotor_att_control/multirotor_rate_control.h | 56 |
1 files changed, 56 insertions, 0 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.h b/src/modules/multirotor_att_control/multirotor_rate_control.h new file mode 100644 index 000000000..03dec317a --- /dev/null +++ b/src/modules/multirotor_att_control/multirotor_rate_control.h @@ -0,0 +1,56 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Laurens Mackay <mackayl@student.ethz.ch> + * @author Tobias Naegeli <naegelit@student.ethz.ch> + * @author Martin Rutschmann <rutmarti@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * + * 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 multirotor_attitude_control.h + * Attitude control for multi rotors. + */ + +#ifndef MULTIROTOR_RATE_CONTROL_H_ +#define MULTIROTOR_RATE_CONTROL_H_ + +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/vehicle_rates_setpoint.h> +#include <uORB/topics/actuator_controls.h> + +void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, + const float rates[], struct actuator_controls_s *actuators); + +#endif /* MULTIROTOR_RATE_CONTROL_H_ */ |