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93 lines
3.0 KiB
93 lines
3.0 KiB
/**************************************************************************** |
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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_pitch_controller.h |
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* Definition of a simple orthogonal pitch 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_PITCH_CONTROLLER_H |
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#define ECL_PITCH_CONTROLLER_H |
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#include <mathlib/mathlib.h> |
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#include "ecl_controller.h" |
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class ECL_PitchController : |
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public ECL_Controller |
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{ |
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public: |
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ECL_PitchController(); |
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~ECL_PitchController() = default; |
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float control_attitude(const struct ECL_ControlData &ctl_data); |
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float control_euler_rate(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_max_rate_pos(float max_rate_pos) |
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{ |
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_max_rate = max_rate_pos; |
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} |
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void set_max_rate_neg(float max_rate_neg) |
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{ |
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_max_rate_neg = max_rate_neg; |
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} |
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void set_bodyrate_setpoint(float rate) |
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{ |
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_bodyrate_setpoint = math::constrain(rate, -_max_rate_neg, _max_rate); |
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} |
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void set_roll_ff(float roll_ff) |
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{ |
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_roll_ff = roll_ff; |
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} |
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protected: |
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float _max_rate_neg; |
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float _roll_ff; |
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}; |
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#endif // ECL_PITCH_CONTROLLER_H
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