AttitudeControl.hpp

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/**
 * @file AttitudeControl.hpp
 *
 * A quaternion based attitude controller.
 *
 * @author Matthias Grob    <maetugr@gmail.com>
 *
 * Publication documenting the implemented Quaternion Attitude Control:
 * Nonlinear Quadrocopter Attitude Control (2013)
 * by Dario Brescianini, Markus Hehn and Raffaello D'Andrea
 * Institute for Dynamic Systems and Control (IDSC), ETH Zurich
 *
 * https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf
 */

#pragma once

#include <matrix/matrix/math.hpp>

class AttitudeControl
{
public:
    AttitudeControl() = default;
    ~AttitudeControl() = default;

    /**
     * Set proportional attitude control gain
     * @param proportional_gain 3D vector containing gains for roll, pitch, yaw
     */
    void setProportionalGain(const matrix::Vector3f &proportional_gain);

    /**
     * Set hard limit for output rate setpoints
     * @param rate_limit [rad/s] 3D vector containing limits for roll, pitch, yaw
     */
    void setRateLimit(const matrix::Vector3f &rate_limit) { _rate_limit = rate_limit; }

    /**
     * Run one control loop cycle calculation
     * @param q estimation of the current vehicle attitude unit quaternion
     * @param qd desired vehicle attitude setpoint
     * @param yawspeed_feedforward [rad/s] yaw feed forward angular rate in world frame
     * @return [rad/s] body frame 3D angular rate setpoint vector to be executed by the rate controller
     */
    matrix::Vector3f update(matrix::Quatf q, matrix::Quatf qd, float yawspeed_feedforward);

private:
    matrix::Vector3f _proportional_gain;
    matrix::Vector3f _rate_limit;
    float _yaw_w = 0.0f; /**< yaw weight [0,1] to prioritize roll and pitch */
};