FW att controller: roll controller: seperate from ecl_controller

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

src/modules/fw_att_control/fw_roll_controller.h

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+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file fw_roll_controller.h
+ * Definition of a simple roll P controller.
+ */
+
+#ifndef FW_ROLL_CONTROLLER_H
+#define FW_ROLL_CONTROLLER_H
+
+class RollController
+{
+public:
+	RollController() = default;
+	~RollController() = default;
+
+	/**
+	 * @brief Calculates both euler and body roll rate setpoints.
+	 *
+	 * @param roll_setpoint roll setpoint [rad]
+	 * @param euler_yaw_rate_setpoint euler yaw rate setpoint [rad/s]
+	 * @param roll estimated roll [rad]
+	 * @param pitch estimated pitch [rad]
+	 * @return Roll body rate setpoint [rad/s]
+	 */
+	float control_roll(float roll_setpoint, float euler_yaw_rate_setpoint, float roll, float pitch);
+
+	void set_time_constant(float time_constant) { _tc = time_constant; }
+	void set_max_rate(float max_rate) { _max_rate = max_rate; }
+
+	float get_euler_rate_setpoint() { return _euler_rate_setpoint; }
+	float get_body_rate_setpoint() { return _body_rate_setpoint; }
+
+private:
+	float _tc;
+	float _max_rate;
+	float _euler_rate_setpoint;
+	float _body_rate_setpoint;
+};
+
+#endif // FW_ROLL_CONTROLLER_H