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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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80 lines
2.8 KiB
C++
80 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020-2023 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 fw_wheel_controller.h
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* Definition of a simple wheel controller.
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*/
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#ifndef FW_WHEEL_CONTROLLER_H
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#define FW_WHEEL_CONTROLLER_H
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class WheelController
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{
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public:
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WheelController() = default;
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~WheelController() = default;
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/**
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* @brief Calculates wheel body rate setpoint.
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*
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* @param yaw_setpoint yaw setpoint [rad]
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* @param yaw estimated yaw [rad]
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* @return Wheel body rate setpoint [rad/s]
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*/
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float control_attitude(float yaw_setpoint, float yaw);
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float control_bodyrate(float dt, float body_z_rate, float groundspeed, float groundspeed_scaler);
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void set_time_constant(float time_constant) { _tc = time_constant; }
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void set_k_p(float k_p) { _k_p = k_p; }
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void set_k_i(float k_i) { _k_i = k_i; }
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void set_k_ff(float k_ff) { _k_ff = k_ff; }
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void set_integrator_max(float max) { _integrator_max = max; }
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void set_max_rate(float max_rate) { _max_rate = max_rate; }
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void reset_integrator() { _integrator = 0.f; }
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private:
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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_ff;
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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 _body_rate_setpoint;
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};
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#endif // FW_WHEEL_CONTROLLER_H
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