controller.h
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1 /*
2  * Copyright (c) 2017, James Jackson and Daniel Koch, BYU MAGICC Lab
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31 
32 #ifndef ROSFLIGHT_FIRMWARE_CONTROLLER_H
33 #define ROSFLIGHT_FIRMWARE_CONTROLLER_H
34 
36 
37 #include "command_manager.h"
38 #include "estimator.h"
39 
40 #include <turbomath/turbomath.h>
41 
42 #include <cstdbool>
43 #include <cstdint>
44 
45 namespace rosflight_firmware
46 {
47 class ROSflight;
48 
50 {
51 public:
52  struct Output
53  {
54  float F;
55  float x;
56  float y;
57  float z;
58  };
59 
60  Controller(ROSflight &rf);
61 
62  inline const Output &output() const { return output_; }
63 
64  void init();
65  void run();
66 
68  void param_change_callback(uint16_t param_id) override;
69 
70 private:
71  class PID
72  {
73  public:
74  PID();
75  void init(float kp, float ki, float kd, float max, float min, float tau);
76  float run(float dt, float x, float x_c, bool update_integrator);
77  float run(float dt, float x, float x_c, bool update_integrator, float xdot);
78 
79  private:
80  float kp_;
81  float ki_;
82  float kd_;
83 
84  float max_;
85  float min_;
86 
87  float integrator_;
89  float prev_x_;
90  float tau_;
91  };
92 
94 
95  turbomath::Vector run_pid_loops(uint32_t dt,
96  const Estimator::State &state,
97  const control_t &command,
98  bool update_integrators);
99 
101 
107 
108  uint64_t prev_time_us_;
109 };
110 
111 } // namespace rosflight_firmware
112 
113 #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:176
void param_change_callback(uint16_t param_id) override
Definition: controller.cpp:147
const Output & output() const
Definition: controller.h:62


rosflight_firmware
Author(s): Daniel Koch , James Jackson
autogenerated on Fri Jul 24 2020 03:20:08