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48 lines
1.1 KiB
48 lines
1.1 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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#ifndef __AP_YAW_CONTROLLER_H__ |
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#define __AP_YAW_CONTROLLER_H__ |
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#include <AP_AHRS.h> |
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#include <AP_Common.h> |
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#include <math.h> // for fabs() |
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class AP_YawController { |
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public: |
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AP_YawController() { |
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AP_Param::setup_object_defaults(this, var_info); |
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} |
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void set_ahrs(AP_AHRS *ahrs) { |
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_ahrs = ahrs; |
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_ins = _ahrs->get_ins(); |
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} |
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int32_t get_servo_out(float scaler = 1.0, bool stick_movement = false); |
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void reset_I(); |
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static const struct AP_Param::GroupInfo var_info[]; |
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private: |
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AP_Float _kp; |
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AP_Float _ki; |
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AP_Int16 _imax; |
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uint32_t _last_t; |
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float _last_error; |
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float _integrator; |
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bool _stick_movement; |
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uint32_t _stick_movement_begin; |
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uint32_t _freeze_start_time; |
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AP_AHRS *_ahrs; |
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AP_InertialSensor *_ins; |
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// Low pass filter cut frequency for derivative calculation. |
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// FCUT macro computes a frequency cut based on an acceptable delay. |
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#define FCUT(d) (1 / ( 2 * 3.14 * (d) ) ) |
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static const float _fCut = FCUT(.5); |
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}; |
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#endif // __AP_YAW_CONTROLLER_H__
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