mirror of
https://github.com/AdaCore/Certyflie.git
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67 lines
2.1 KiB
C
67 lines
2.1 KiB
C
/**
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* || ____ _ __ ______
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* +------+ / __ )(_) /_/ ____/_________ _____ ___
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* | 0xBC | / __ / / __/ / / ___/ __ `/_ / / _ \
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* +------+ / /_/ / / /_/ /___ / / / /_/ / / /_/ __/
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* || || /_____/_/\__/\____//_/ \__,_/ /___/\___/
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*
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* Crazyflie control firmware
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*
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* Copyright (C) 2011-2012 Bitcraze AB
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, in version 3.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#ifndef CONTROLLER_H_
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#define CONTROLLER_H_
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#include <stdbool.h>
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#include "commander.h"
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void controllerInit(void);
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bool controllerTest(void);
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/**
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* Make the controller run an update of the attitude PID. The output is
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* the desired rate which should be fed into a rate controller. The
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* attitude controller can be run in a slower update rate then the rate
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* controller.
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*/
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void controllerCorrectAttitudePID(
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float eulerRollActual, float eulerPitchActual, float eulerYawActual,
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float eulerRollDesired, float eulerPitchDesired, float eulerYawDesired,
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float* rollRateDesired, float* pitchRateDesired, float* yawRateDesired);
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/**
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* Make the controller run an update of the rate PID. The output is
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* the actuator force.
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*/
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void controllerCorrectRatePID(
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float rollRateActual, float pitchRateActual, float yawRateActual,
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float rollRateDesired, float pitchRateDesired, float yawRateDesired);
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/**
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* Reset controller roll, pitch and yaw PID's.
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*/
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void controllerResetAllPID(void);
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/**
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* Get the actuator output.
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*/
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void controllerGetActuatorOutput(int16_t* roll, int16_t* pitch, int16_t* yaw);
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#endif /* CONTROLLER_H_ */
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