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FW att controller: ecl_controller: move setter/getter implementation to header

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-12-07 17:21:09 +01:00
parent 2af21ee0b6
commit 48782723ab
2 changed files with 10 additions and 64 deletions
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src/modules/fw_att_control/ecl_controller.cpp
-52
View File
@@ -65,55 +65,3 @@ ECL_Controller::ECL_Controller() :
_body_rate_setpoint(0.0f)
{
}
void ECL_Controller::reset_integrator()
{
_integrator = 0.0f;
}
void ECL_Controller::set_time_constant(float time_constant)
{
if (time_constant > 0.1f && time_constant < 3.0f) {
_tc = time_constant;
}
}
void ECL_Controller::set_k_p(float k_p)
{
_k_p = k_p;
}
void ECL_Controller::set_k_i(float k_i)
{
_k_i = k_i;
}
void ECL_Controller::set_k_ff(float k_ff)
{
_k_ff = k_ff;
}
void ECL_Controller::set_integrator_max(float max)
{
_integrator_max = max;
}
void ECL_Controller::set_max_rate(float max_rate)
{
_max_rate = max_rate;
}
float ECL_Controller::get_euler_rate_setpoint()
{
return _euler_rate_setpoint;
}
float ECL_Controller::get_body_rate_setpoint()
{
return _body_rate_setpoint;
}
float ECL_Controller::get_integrator()
{
return _integrator;
}
src/modules/fw_att_control/ecl_controller.h
+10 -12
View File
@@ -81,20 +81,18 @@ public:
*/
virtual float control_attitude(const float dt, const ECL_ControlData &ctl_data) = 0;
/* Setters */
void set_time_constant(float time_constant);
void set_k_p(float k_p);
void set_k_i(float k_i);
void set_k_ff(float k_ff);
void set_integrator_max(float max);
void set_max_rate(float max_rate);
void set_time_constant(float time_constant) { _tc = time_constant; }
void set_k_p(float k_p) { _k_p = k_p; }
void set_k_i(float k_i) { _k_i = k_i; }
void set_k_ff(float k_ff) { _k_ff = k_ff; }
void set_integrator_max(float max) { _integrator_max = max; }
void set_max_rate(float max_rate) { _max_rate = max_rate; }
/* Getters */
float get_euler_rate_setpoint();
float get_body_rate_setpoint();
float get_integrator();
float get_euler_rate_setpoint() { return _euler_rate_setpoint; }
float get_body_rate_setpoint() { return _body_rate_setpoint; }
float get_integrator() { return _integrator; }
void reset_integrator();
void reset_integrator() { _integrator = 0.f; }
protected:
uint64_t _last_run;