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48 lines
1.0 KiB
48 lines
1.0 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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#ifndef __AP_PITCH_CONTROLLER_H__ |
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#define __AP_PITCH_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_PitchController { |
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public: |
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AP_PitchController() { |
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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) { _ahrs = ahrs; } |
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int32_t get_servo_out(int32_t angle, float scaler = 1.0, bool stabilize = 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_angle; |
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AP_Float _kp_ff; |
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AP_Float _kp_rate; |
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AP_Float _ki_rate; |
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AP_Int16 _max_rate_pos; |
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AP_Int16 _max_rate_neg; |
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AP_Float _roll_ff; |
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AP_Float _stabilize_gain; |
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uint32_t _last_t; |
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float _last_rate; |
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float _integrator; |
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AP_AHRS *_ahrs; |
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/// Low pass filter cut frequency for derivative calculation. |
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/// |
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/// 20 Hz becasue anything over that is probably noise, see |
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/// http://en.wikipedia.org/wiki/Low-pass_filter. |
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/// |
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static const uint8_t _fCut = 20; |
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}; |
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#endif // __AP_PITCH_CONTROLLER_H__
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