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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_yaw_controller.h
* Definition of a simple orthogonal coordinated turn yaw 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_YAW_CONTROLLER_H
#define ECL_YAW_CONTROLLER_H
#include <stdbool.h>
#include <stdint.h>
#include "ecl_controller.h"
class __EXPORT ECL_YawController :
public ECL_Controller
{
public:
ECL_YawController();
~ECL_YawController();
float control_attitude(const struct ECL_ControlData &ctl_data);
float control_bodyrate(const struct ECL_ControlData &ctl_data);
/* Additional setters */
void set_coordinated_min_speed(float coordinated_min_speed) {
_coordinated_min_speed = coordinated_min_speed;
}
protected:
float _coordinated_min_speed;
};
#endif // ECL_YAW_CONTROLLER_H
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