ecl_controller.h
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/****************************************************************************
*
* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name ECL nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file ecl_controller.h
* Definition of base class for other controllers
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
*
* Acknowledgements:
*
* The control design is based on a design
* by Paul Riseborough and Andrew Tridgell, 2013,
* which in turn is based on initial work of
* Jonathan Challinger, 2012.
*/
#pragma once
#include <drivers/drv_hrt.h>
#include <px4_log.h>
struct ECL_ControlData {
float roll;
float pitch;
float yaw;
float body_x_rate;
float body_y_rate;
float body_z_rate;
float roll_setpoint;
float pitch_setpoint;
float yaw_setpoint;
float roll_rate_setpoint;
float pitch_rate_setpoint;
float yaw_rate_setpoint;
float airspeed_min;
float airspeed_max;
float airspeed;
float scaler;
float groundspeed;
float groundspeed_scaler;
bool lock_integrator;
};
class ECL_Controller
{
public:
ECL_Controller();
virtual ~ECL_Controller() = default;
virtual float control_attitude(const float dt, const ECL_ControlData &ctl_data) = 0;
virtual float control_euler_rate(const float dt, const ECL_ControlData &ctl_data) = 0;
virtual float control_bodyrate(const float dt, const ECL_ControlData &ctl_data) = 0;
/* Setters */
void set_time_constant(float time_constant);
void set_k_p(float k_p);
void set_k_i(float k_i);
void set_k_ff(float k_ff);
void set_integrator_max(float max);
void set_max_rate(float max_rate);
void set_bodyrate_setpoint(float rate);
/* Getters */
float get_rate_error();
float get_desired_rate();
float get_desired_bodyrate();
float get_integrator();
void reset_integrator();
protected:
uint64_t _last_run;
float _tc;
float _k_p;
float _k_i;
float _k_ff;
float _integrator_max;
float _max_rate;
float _last_output;
float _integrator;
float _rate_error;
float _rate_setpoint;
float _bodyrate_setpoint;
float constrain_airspeed(float airspeed, float minspeed, float maxspeed);
};