From b21b9078e2d719bfd7af9580ac3b9b5957ef1d57 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Tue, 15 Oct 2013 22:00:56 +0200 Subject: wip, fw attitude ctrl: split into attitude and rate, compiles, untested --- src/lib/ecl/attitude_fw/ecl_roll_controller.h | 16 +++++++++++++--- 1 file changed, 13 insertions(+), 3 deletions(-) (limited to 'src/lib/ecl/attitude_fw/ecl_roll_controller.h') diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.h b/src/lib/ecl/attitude_fw/ecl_roll_controller.h index e19812ea8..f94db0dc7 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.h @@ -36,6 +36,7 @@ * Definition of a simple orthogonal roll PID controller. * * @author Lorenz Meier + * @author Thomas Gubler * * Acknowledgements: * @@ -51,13 +52,17 @@ #include #include -class __EXPORT ECL_RollController +class __EXPORT ECL_RollController //XXX: create controller superclass { public: ECL_RollController(); - float control(float roll_setpoint, float roll, float roll_rate, float pitch, float yaw_rate, - float scaler = 1.0f, bool lock_integrator = false, float airspeed_min = 0.0f, float airspeed_max = 0.0f, float airspeed = (0.0f / 0.0f)); + float control_attitude(float roll_setpoint, float roll); + + float control_bodyrate(float pitch, + float roll_rate, float yaw_rate, + float yaw_rate_setpoint, + float airspeed_min = 0.0f, float airspeed_max = 0.0f, float airspeed = (0.0f / 0.0f), float scaler = 1.0f, bool lock_integrator = false); void reset_integrator(); @@ -90,6 +95,10 @@ public: return _rate_setpoint; } + float get_desired_bodyrate() { + return _bodyrate_setpoint; + } + private: uint64_t _last_run; float _tc; @@ -102,6 +111,7 @@ private: float _integrator; float _rate_error; float _rate_setpoint; + float _bodyrate_setpoint; float _max_deflection_rad; }; -- cgit v1.2.3