ecl_controller.h

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/**
 * @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 <ecl.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 struct ECL_ControlData &ctl_data) = 0;
    virtual float control_euler_rate(const struct ECL_ControlData &ctl_data) = 0;
    virtual float control_bodyrate(const struct 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);
};