From a897b3d88e5d1c3e8c005d0d5fd7b0dacd434ed0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 23 Aug 2013 16:28:53 +0200 Subject: Added complete attitude control framework --- src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp | 60 ++++++++++++++++++++++++ 1 file changed, 60 insertions(+) create mode 100644 src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp (limited to 'src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp') diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp new file mode 100644 index 000000000..0faba287d --- /dev/null +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp @@ -0,0 +1,60 @@ +/**************************************************************************** + * + * Copyright (c) 2013 Estimation and Control Library (ECL). 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 APL 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 ecl_pitch_controller.cpp + * Implementation of a simple orthogonal pitch PID controller. + * + */ + +#include "ecl_pitch_controller.h" + +ECL_PitchController::ECL_PitchController() : + _last_run(0), + _last_output(0.0f), + _integrator(0.0f), + _rate_error(0.0f), + _desired_rate(0.0f) +{ +} + +float ECL_PitchController::control(float pitch_setpoint, float pitch, float pitch_rate, float roll, float scaler, + bool lock_integrator, float airspeed_min, float airspeed_max, float aspeed) +{ + return 0.0f; +} + +void ECL_PitchController::reset_integrator() +{ + _integrator = 0.0f; +} -- cgit v1.2.3