Go to the documentation of this file.00001 #include "ros/ros.h"
00002
00003 enum {P_GAIN,I_GAIN,D_GAIN,I_MAX,I_MIN};
00004
00005 typedef struct{
00006 double desired;
00007 double z_ref;
00008 double zd_ref;
00009 double zdd_ref;
00010 double Ref_Rate;
00011 } Reference;
00012
00013 typedef struct{
00014 ros::Time time_last;
00015 double last;
00016 ros::Time time_current;
00017 double current;
00018 } Height_str;
00019
00020 double PID_height(double desired_height, Height_str Height, double height_gain[5], double t, double Mass, double roll, double pitch, ros::Publisher AccZ);
00021 void ZKalman_Init(void);
00022 double ZKalman_newZMeasurement(double z, double zdd);