Initial import

attitude_fw/ecl_yaw_controller.h

@@ -0,0 +1,97 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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 ecl_yaw_controller.h
+ * Definition of a simple orthogonal coordinated turn yaw PID controller.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Acknowledgements:
+ *
+ *   The control design is based on a design
+ *   by Paul Riseborough and Andrew Tridgell, 2013,
+ *   which in turn is based on initial work of
+ *   Jonathan Challinger, 2012.
+ */
+#ifndef ECL_YAW_CONTROLLER_H
+#define ECL_YAW_CONTROLLER_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "ecl_controller.h"
+
+class __EXPORT ECL_YawController :
+	public ECL_Controller
+{
+public:
+	ECL_YawController();
+
+	~ECL_YawController();
+
+	float control_attitude(const struct ECL_ControlData &ctl_data);
+
+	float control_bodyrate(const struct ECL_ControlData &ctl_data);
+
+	/* Additional setters */
+	void set_coordinated_min_speed(float coordinated_min_speed)
+	{
+		_coordinated_min_speed = coordinated_min_speed;
+	}
+
+	void set_coordinated_method(int32_t coordinated_method)
+	{
+		_coordinated_method = coordinated_method;
+	}
+
+protected:
+	float _coordinated_min_speed;
+
+	enum {
+		COORD_METHOD_OPEN = 0,
+		COORD_METHOD_CLOSEACC = 1,
+	};
+
+	int32_t _coordinated_method;
+
+	float control_bodyrate_impl(const struct ECL_ControlData &ctl_data);
+
+	float control_attitude_impl_openloop(const struct ECL_ControlData &ctl_data);
+
+	float control_attitude_impl_accclosedloop(const struct ECL_ControlData &ctl_data);
+
+};
+
+#endif // ECL_YAW_CONTROLLER_H