44 #include <mathlib/mathlib.h> 78 float dt = (float)dt_micros * 1e-6
f;
83 if (dt_micros > 500000) {
84 lock_integrator =
true;
90 if (!lock_integrator &&
_k_i > 0.0
f) {
constexpr _Tp constrain(_Tp val, _Tp min_val, _Tp max_val)
Definition of geo / math functions to perform geodesic calculations.
Definition of a simple orthogonal roll PID controller.
float control_attitude(const struct ECL_ControlData &ctl_data) override
#define ecl_absolute_time()
#define ecl_elapsed_time(t)
Vector< float, 6 > f(float t, const Matrix< float, 6, 1 > &, const Matrix< float, 3, 1 > &)
float control_euler_rate(const struct ECL_ControlData &ctl_data) override
float control_bodyrate(const struct ECL_ControlData &ctl_data) override
constexpr _Tp min(_Tp a, _Tp b)
void set_bodyrate_setpoint(float rate)
constexpr _Tp max(_Tp a, _Tp b)