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96 lines
3.0 KiB
C++
96 lines
3.0 KiB
C++
#ifndef MC_ATT_CONTROL_BASE_H_
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#define MC_ATT_CONTROL_BASE_H_
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/* Copyright (c) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mc_att_control_base.h
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*
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* @author Roman Bapst <bapstr@ethz.ch>
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*
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <errno.h>
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#include <math.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/actuator_armed.h>
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#include <systemlib/err.h>
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#include <systemlib/perf_counter.h>
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#include <lib/mathlib/mathlib.h>
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#inlcude "mc_att_control_base.h"
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#define YAW_DEADZONE 0.05f
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#define MIN_TAKEOFF_THRUST 0.2f
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#define RATES_I_LIMIT 0.3f
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class MulticopterAttitudeControlSim :
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public MulticopterAttitudeControlBase
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{
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public:
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/**
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* Constructor
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*/
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MulticopterAttitudeControlSim();
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/**
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* Destructor
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*/
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~MulticopterAttitudeControlSim();
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/* setters and getters for interface with euroc-gazebo simulator */
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void set_attitude(const Eigen::Quaternion<double> attitude);
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void set_attitude_rates(const Eigen::Vector3d &angular_rate);
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void set_attitude_reference(const Eigen::Vector4d &control_attitude_thrust_reference);
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void get_mixer_input(Eigen::Vector4d &motor_inputs);
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protected:
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void vehicle_attitude_setpoint_poll() {};
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};
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#endif /* MC_ATT_CONTROL_BASE_H_ */
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