You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
61 lines
2.8 KiB
61 lines
2.8 KiB
/**************************************************************************** |
|
* |
|
* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
|
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> |
|
* @author Julian Oes <joes@student.ethz.ch> |
|
* @author Laurens Mackay <mackayl@student.ethz.ch> |
|
* @author Tobias Naegeli <naegelit@student.ethz.ch> |
|
* @author Martin Rutschmann <rutmarti@student.ethz.ch> |
|
* @author Lorenz Meier <lm@inf.ethz.ch> |
|
* |
|
* 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 PX4 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 attitude_control.h |
|
* attitude control for multi rotors |
|
*/ |
|
|
|
#ifndef ATTITUDE_CONTROL_H_ |
|
#define ATTITUDE_CONTROL_H_ |
|
|
|
#include <uORB/uORB.h> |
|
#include <uORB/topics/rc_channels.h> |
|
#include <uORB/topics/vehicle_attitude.h> |
|
#include <uORB/topics/vehicle_attitude_setpoint.h> |
|
#include <uORB/topics/ardrone_control.h> |
|
#include <uORB/topics/vehicle_status.h> |
|
#include <uORB/topics/actuator_controls.h> |
|
|
|
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, |
|
const struct vehicle_status_s *status, struct actuator_controls_s *actuators, bool verbose); |
|
|
|
void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators, bool verbose); |
|
|
|
#endif /* ATTITUDE_CONTROL_H_ */
|
|
|