ecl_wheel_controller.h

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/**
 * @file ecl_wheel_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>
 * @author Andreas Antener <andreas@uaventure.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_HEADING_CONTROLLER_H
#define ECL_HEADING_CONTROLLER_H

#include "ecl_controller.h"

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

    float control_attitude(const struct ECL_ControlData &ctl_data) override;

    float control_bodyrate(const struct ECL_ControlData &ctl_data) override;

    float control_euler_rate(const struct ECL_ControlData &ctl_data) override { (void)ctl_data; return 0; }
};

#endif // ECL_HEADING_CONTROLLER_H