ecl_yaw_controller.h

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/**
 * @file ecl_yaw_controller.h
 * Definition of a simple orthogonal coordinated turn yaw 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_YAW_CONTROLLER_H
#define ECL_YAW_CONTROLLER_H

#include "ecl_controller.h"

class ECL_YawController :
    public ECL_Controller
{
public:
    ECL_YawController() = default;
    ~ECL_YawController() = 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_coordinated_min_speed(float coordinated_min_speed)
    {
        _coordinated_min_speed = coordinated_min_speed;
    }

    void set_coordinated_method(int32_t coordinated_method)
    {
        _coordinated_method = coordinated_method;
    }

    enum {
        COORD_METHOD_OPEN = 0,
        COORD_METHOD_CLOSEACC = 1
    };

protected:
    float _coordinated_min_speed{1.0f};
    float _max_rate{0.0f};

    int32_t _coordinated_method{COORD_METHOD_OPEN};

    float control_attitude_impl_openloop(const struct ECL_ControlData &ctl_data);

    float control_attitude_impl_accclosedloop(const struct ECL_ControlData &ctl_data);

};

#endif // ECL_YAW_CONTROLLER_H