52 #include <mathlib/mathlib.h> 60 _integrator_max(0.0
f),
66 _bodyrate_setpoint(0.0
f)
77 if (time_constant > 0.1
f && time_constant < 3.0
f) {
134 float airspeed_result = airspeed;
138 airspeed_result = 0.5f * (minspeed + maxspeed);
140 }
else if (airspeed < minspeed) {
141 airspeed_result = minspeed;
144 return airspeed_result;
float constrain_airspeed(float airspeed, float minspeed, float maxspeed)
constexpr _Tp constrain(_Tp val, _Tp min_val, _Tp max_val)
void set_time_constant(float time_constant)
void set_max_rate(float max_rate)
Vector< float, 6 > f(float t, const Matrix< float, 6, 1 > &, const Matrix< float, 3, 1 > &)
void set_k_ff(float k_ff)
float get_desired_bodyrate()
void set_bodyrate_setpoint(float rate)
Definition of base class for other controllers.
constexpr _Tp max(_Tp a, _Tp b)
void set_integrator_max(float max)