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98 lines
3.1 KiB
98 lines
3.1 KiB
9 years ago
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/****************************************************************************
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*
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* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name ECL nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ecl_yaw_controller.h
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* Definition of a simple orthogonal coordinated turn yaw PID controller.
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*
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* Acknowledgements:
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*
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* The control design is based on a design
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* by Paul Riseborough and Andrew Tridgell, 2013,
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* which in turn is based on initial work of
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* Jonathan Challinger, 2012.
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*/
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#ifndef ECL_YAW_CONTROLLER_H
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#define ECL_YAW_CONTROLLER_H
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#include <stdbool.h>
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#include <stdint.h>
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#include "ecl_controller.h"
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class __EXPORT ECL_YawController :
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public ECL_Controller
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{
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public:
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ECL_YawController();
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~ECL_YawController();
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float control_attitude(const struct ECL_ControlData &ctl_data);
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float control_bodyrate(const struct ECL_ControlData &ctl_data);
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/* Additional setters */
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void set_coordinated_min_speed(float coordinated_min_speed)
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{
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_coordinated_min_speed = coordinated_min_speed;
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}
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void set_coordinated_method(int32_t coordinated_method)
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{
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_coordinated_method = coordinated_method;
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}
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protected:
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float _coordinated_min_speed;
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enum {
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COORD_METHOD_OPEN = 0,
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COORD_METHOD_CLOSEACC = 1,
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};
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int32_t _coordinated_method;
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float control_bodyrate_impl(const struct ECL_ControlData &ctl_data);
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float control_attitude_impl_openloop(const struct ECL_ControlData &ctl_data);
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float control_attitude_impl_accclosedloop(const struct ECL_ControlData &ctl_data);
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};
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#endif // ECL_YAW_CONTROLLER_H
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