controller.h
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1 /*
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31 
32 #ifndef ROSFLIGHT_FIRMWARE_CONTROLLER_H
33 #define ROSFLIGHT_FIRMWARE_CONTROLLER_H
34 
35 #include <stdint.h>
36 #include <stdbool.h>
37 
38 #include <turbomath/turbomath.h>
39 
41 
42 #include "command_manager.h"
43 #include "estimator.h"
44 
45 namespace rosflight_firmware
46 {
47 
48 class ROSflight;
49 
51 {
52 public:
53  struct Output
54  {
55  float F;
56  float x;
57  float y;
58  float z;
59  };
60 
61  Controller(ROSflight &rf);
62 
63  inline const Output &output() const { return output_; }
64 
65  void init();
66  void run();
67 
69  void param_change_callback(uint16_t param_id) override;
70 
71 private:
72  class PID
73  {
74  public:
75  PID();
76  void init(float kp, float ki, float kd, float max, float min, float tau);
77  float run(float dt, float x, float x_c, bool update_integrator);
78  float run(float dt, float x, float x_c, bool update_integrator, float xdot);
79 
80  private:
81  float kp_;
82  float ki_;
83  float kd_;
84 
85  float max_;
86  float min_;
87 
88  float integrator_;
90  float prev_x_;
91  float tau_;
92  };
93 
95 
96  turbomath::Vector run_pid_loops(uint32_t dt,
97  const Estimator::State &state,
98  const control_t &command,
99  bool update_integrators);
100 
102 
108 
109  uint64_t prev_time_us_;
110 };
111 
112 } // namespace rosflight_firmware
113 
114 #endif // ROSFLIGHT_FIRMWARE_CONTROLLER_H
turbomath::Vector run_pid_loops(uint32_t dt, const Estimator::State &state, const control_t &command, bool update_integrators)
Definition: controller.cpp:183
void param_change_callback(uint16_t param_id) override
Definition: controller.cpp:154
const Output & output() const
Definition: controller.h:63


rosflight_firmware
Author(s): Daniel Koch , James Jackson
autogenerated on Thu Oct 24 2019 03:17:18