pidAttitudeControl.h

00001 #ifndef pidAttitudeControl_H
00002 #define pidAttitudeControl_H
00003 
00004 #include "mbed.h"
00005 #include "generalFunctions.h"
00006 #include "config.h"
00007 
00008 class pidAttitudeControl
00009 {    
00010 public:
00011     pidAttitudeControl();
00012     void setGains(float kP,float kI, float kD, float kFf);
00013     void setTermLimits(float P_min, float P_max, float I_min, float I_max, float D_min, float D_max, float Ff_min, float Ff_max);
00014     void setOutputRange(float outMin, float outMax);
00015     float calcOutput(float setPoint, float feedback, float servoTime);
00016                     
00017     float PIDFf_terms[4];    
00018     float Summ_term;                    
00019                            
00020 private:
00021     float PIDFf_gains[4];
00022     float PIDFf_limits[4][2];
00023     float output_limits[2];
00024     
00025     float controlError[2];       
00026     
00027     float prevSetPoint; //for acceleration
00028     float compensatedSetPoint;
00029     
00030     //float PIDFf_terms[4];    
00031     //float Summ_term;
00032 };
00033 
00034 
00035 #endif