ecl_pitch_controller.h

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/**
 * @file ecl_pitch_controller.h
 * Definition of a simple orthogonal pitch PID controller.
 *
 * @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.
 */

#ifndef ECL_PITCH_CONTROLLER_H
#define ECL_PITCH_CONTROLLER_H

#include <mathlib/mathlib.h>

#include "ecl_controller.h"

class ECL_PitchController :
    public ECL_Controller
{
public:
    ECL_PitchController() = default;
    ~ECL_PitchController() = default;

    float control_attitude(const struct ECL_ControlData &ctl_data) override;
    float control_euler_rate(const struct ECL_ControlData &ctl_data) override;
    float control_bodyrate(const struct ECL_ControlData &ctl_data) override;

    /* Additional Setters */
    void set_max_rate_pos(float max_rate_pos)
    {
        _max_rate = max_rate_pos;
    }

    void set_max_rate_neg(float max_rate_neg)
    {
        _max_rate_neg = max_rate_neg;
    }

    void set_bodyrate_setpoint(float rate)
    {
        _bodyrate_setpoint = math::constrain(rate, -_max_rate_neg, _max_rate);
    }

    void set_roll_ff(float roll_ff)
    {
        _roll_ff = roll_ff;
    }

protected:
    float _max_rate_neg{0.0f};
    float _roll_ff{0.0f};
};

#endif // ECL_PITCH_CONTROLLER_H