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/****************************************************************************
*
* 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 ECL 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.h
* Definition of a simple orthogonal pitch PID controller.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
*
* Acknowledgements:
*
* The control design is based on a design
* by Paul Riseborough and Andrew Tridgell, 2013,
* which in turn is based on initial work of
* Jonathan Challinger, 2012.
*/
#ifndef ECL_PITCH_CONTROLLER_H
#define ECL_PITCH_CONTROLLER_H
#include <stdbool.h>
#include <stdint.h>
#include <systemlib/perf_counter.h>
class __EXPORT ECL_PitchController //XXX: create controller superclass
{
public:
ECL_PitchController();
~ECL_PitchController();
float control_attitude(float pitch_setpoint, float roll, float pitch, float airspeed);
float control_bodyrate(float roll, float pitch,
float pitch_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();
void set_time_constant(float time_constant) {
_tc = time_constant;
}
void set_k_p(float k_p) {
_k_p = k_p;
}
void set_k_i(float k_i) {
_k_i = k_i;
}
void set_k_ff(float k_ff) {
_k_ff = k_ff;
}
void set_integrator_max(float max) {
_integrator_max = max;
}
void set_max_rate_pos(float max_rate_pos) {
_max_rate_pos = max_rate_pos;
}
void set_max_rate_neg(float max_rate_neg) {
_max_rate_neg = max_rate_neg;
}
void set_roll_ff(float roll_ff) {
_roll_ff = roll_ff;
}
float get_rate_error() {
return _rate_error;
}
float get_desired_rate() {
return _rate_setpoint;
}
float get_desired_bodyrate() {
return _bodyrate_setpoint;
}
private:
uint64_t _last_run;
float _tc;
float _k_p;
float _k_i;
float _k_ff;
float _integrator_max;
float _max_rate_pos;
float _max_rate_neg;
float _roll_ff;
float _last_output;
float _integrator;
float _rate_error;
float _rate_setpoint;
float _bodyrate_setpoint;
perf_counter_t _nonfinite_input_perf;
};
#endif // ECL_PITCH_CONTROLLER_H
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