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92 lines
3.1 KiB
92 lines
3.1 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2013-2016 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 "ecl_controller.h" |
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class 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() = 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_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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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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protected: |
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float _coordinated_min_speed; |
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float _max_rate; |
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int32_t _coordinated_method; |
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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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