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47 lines
981 B
47 lines
981 B
#pragma once |
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#include <AP_AHRS/AP_AHRS.h> |
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#include <AP_Common/AP_Common.h> |
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#include <AP_Vehicle/AP_Vehicle.h> |
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#include <DataFlash/DataFlash.h> |
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#include <cmath> |
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class AP_YawController { |
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public: |
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AP_YawController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms) : |
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aparm(parms), |
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_ahrs(ahrs) |
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{ |
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AP_Param::setup_object_defaults(this, var_info); |
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_pid_info.desired = 0; |
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_pid_info.FF = 0; |
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_pid_info.P = 0; |
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} |
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int32_t get_servo_out(float scaler, bool disable_integrator); |
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void reset_I(); |
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const DataFlash_Class::PID_Info& get_pid_info(void) const {return _pid_info; } |
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static const struct AP_Param::GroupInfo var_info[]; |
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private: |
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const AP_Vehicle::FixedWing &aparm; |
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AP_Float _K_A; |
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AP_Float _K_I; |
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AP_Float _K_D; |
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AP_Float _K_FF; |
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AP_Int16 _imax; |
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uint32_t _last_t; |
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float _last_out; |
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float _last_rate_hp_out; |
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float _last_rate_hp_in; |
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float _K_D_last; |
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float _integrator; |
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DataFlash_Class::PID_Info _pid_info; |
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AP_AHRS &_ahrs; |
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};
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