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53 lines
1.5 KiB
53 lines
1.5 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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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/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 "AP_AutoTune.h" |
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#include <DataFlash/DataFlash.h> |
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#include <AP_Math/AP_Math.h> |
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class AP_PitchController { |
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public: |
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AP_PitchController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash) : |
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aparm(parms), |
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autotune(gains, AP_AutoTune::AUTOTUNE_PITCH, parms, _dataflash), |
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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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} |
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int32_t get_rate_out(float desired_rate, float scaler); |
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int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator); |
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void reset_I(); |
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void autotune_start(void) { autotune.start(); } |
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void autotune_restore(void) { autotune.stop(); } |
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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_AutoTune::ATGains gains; |
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AP_AutoTune autotune; |
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AP_Int16 _max_rate_neg; |
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AP_Float _roll_ff; |
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uint32_t _last_t; |
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float _last_out; |
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DataFlash_Class::PID_Info _pid_info; |
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int32_t _get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed); |
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float _get_coordination_rate_offset(float &aspeed, bool &inverted) const; |
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AP_AHRS &_ahrs; |
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}; |
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#endif // __AP_PITCH_CONTROLLER_H__
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