Joseph Roberts / Mbed 2 deprecated Quadcopter_mk2

New version of quadcopter software written to OO principles

Dependencies:   mbed MODSERIAL filter mbed-rtos ConfigFile PID PPM FreeIMU_external_magnetometer TinyGPS

FlightController/RateController/RateController.h@4:9ffbf9101992, 2015-05-08 (annotated)

Committer:
joe4465
Date:
Fri May 08 09:07:38 2015 +0000
Revision:
4:9ffbf9101992
Parent:
2:969dfa4f2436 
End of FYP

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joe4465 0:c6a85bb2a827 1 #include "mbed.h"
joe4465 0:c6a85bb2a827 2 #include "Global.h"
joe4465 0:c6a85bb2a827 3 #include "PidWrapper.h"
joe4465 0:c6a85bb2a827 4 #include "ConfigFileWrapper.h"
joe4465 2:969dfa4f2436 5 #include "NavigationController.h"
joe4465 0:c6a85bb2a827 6
joe4465 0:c6a85bb2a827 7 #ifndef RateController_H
joe4465 0:c6a85bb2a827 8 #define RateController_H
joe4465 0:c6a85bb2a827 9
joe4465 0:c6a85bb2a827 10 class RateController
joe4465 0:c6a85bb2a827 11 {
joe4465 0:c6a85bb2a827 12 public:
joe4465 2:969dfa4f2436 13 RateController(Sensors& sensors, NavigationController& navigationController, ConfigFileWrapper& configFileWrapper);
joe4465 0:c6a85bb2a827 14 ~RateController();
joe4465 0:c6a85bb2a827 15
joe4465 2:969dfa4f2436 16 PidWrapper::PidOutput compute();
joe4465 2:969dfa4f2436 17 void reset();
joe4465 2:969dfa4f2436 18 void setYawRatePidParameters(PidWrapper::PidParameter pidParameters);
joe4465 2:969dfa4f2436 19 void setPitchRatePidParameters(PidWrapper::PidParameter pidParameters);
joe4465 2:969dfa4f2436 20 void setRollRatePidParameters(PidWrapper::PidParameter pidParameters);
joe4465 2:969dfa4f2436 21 PidWrapper::RatePidState getRatePidState();
joe4465 0:c6a85bb2a827 22
joe4465 0:c6a85bb2a827 23 private:
joe4465 2:969dfa4f2436 24 Sensors& _sensors;
joe4465 2:969dfa4f2436 25 NavigationController& _navigationController;
joe4465 2:969dfa4f2436 26 ConfigFileWrapper& _configFileWrapper;
joe4465 2:969dfa4f2436 27 PidWrapper _yawRatePidController;
joe4465 2:969dfa4f2436 28 PidWrapper _pitchRatePidController;
joe4465 2:969dfa4f2436 29 PidWrapper _rollRatePidController;
joe4465 2:969dfa4f2436 30 NavigationController::SetPoint _setPoints;
joe4465 2:969dfa4f2436 31 Imu::Rate _rate;
joe4465 2:969dfa4f2436 32 Imu::Angle _angle;
joe4465 2:969dfa4f2436 33 PidWrapper::PidOutput _pidOutputs;
joe4465 0:c6a85bb2a827 34 };
joe4465 0:c6a85bb2a827 35
joe4465 0:c6a85bb2a827 36 #endif