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101 lines
3.0 KiB
C++
101 lines
3.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013 Estimation and Control Library (ECL). 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 APL 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 ecl_roll_controller.h
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* Definition of a simple orthogonal roll PID controller.
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*
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*/
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#ifndef ECL_ROLL_CONTROLLER_H
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#define ECL_ROLL_CONTROLLER_H
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#include <stdbool.h>
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#include <stdint.h>
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class __EXPORT ECL_RollController
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{
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public:
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ECL_RollController();
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float control(float roll_setpoint, float roll, float roll_rate,
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float scaler = 1.0f, bool lock_integrator = false, float airspeed_min = 0.0f, float airspeed_max = 0.0f, float airspeed = (0.0f / 0.0f));
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void reset_integrator();
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void set_time_constant(float time_constant) {
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if (time_constant > 0.1f && time_constant < 3.0f) {
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_tc = time_constant;
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}
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}
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void set_k_p(float k_p) {
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_k_p = k_p;
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}
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void set_k_i(float k_i) {
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_k_i = k_i;
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}
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void set_k_d(float k_d) {
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_k_d = k_d;
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}
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void set_integrator_max(float max) {
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_integrator_max = max;
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}
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void set_max_rate(float max_rate) {
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_max_rate = max_rate;
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}
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float get_rate_error() {
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return _rate_error;
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}
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float get_desired_rate() {
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return _rate_setpoint;
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}
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private:
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uint64_t _last_run;
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float _tc;
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float _k_p;
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float _k_i;
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float _k_d;
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float _integrator_max;
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float _max_rate;
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float _last_output;
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float _integrator;
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float _rate_error;
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float _rate_setpoint;
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float _max_deflection_rad;
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};
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#endif // ECL_ROLL_CONTROLLER_H
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