From e9af999dc6adc66824e008797e1bd81f8f3aee65 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 7 Aug 2012 23:15:04 +0200 Subject: Introduced multirotor control --- .../multirotor_attitude_control.h | 52 ++++++++++++++++++++++ 1 file changed, 52 insertions(+) create mode 100644 apps/multirotor_control/multirotor_attitude_control.h (limited to 'apps/multirotor_control/multirotor_attitude_control.h') diff --git a/apps/multirotor_control/multirotor_attitude_control.h b/apps/multirotor_control/multirotor_attitude_control.h new file mode 100644 index 000000000..6f66926c0 --- /dev/null +++ b/apps/multirotor_control/multirotor_attitude_control.h @@ -0,0 +1,52 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler + * Julian Oes + * + * + * 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 attitude control for quadrotors */ + +#ifndef ATTITUDE_CONTROL_H_ +#define ATTITUDE_CONTROL_H_ + +#include +#include +#include +#include +#include + +void control_attitude(const struct rc_channels_s *rc, const struct vehicle_attitude_s *att, + const struct vehicle_status_s *status, int ardrone_pub, + struct ardrone_control_s *ar_control); + +#endif /* ATTITUDE_CONTROL_H_ */ -- cgit v1.2.3