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

Global/PidWrapper/PidWrapper.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 2:969dfa4f2436 1 #include "mbed.h"
joe4465 2:969dfa4f2436 2 #include "Global.h"
joe4465 2:969dfa4f2436 3 #include "PID.h"
joe4465 2:969dfa4f2436 4
joe4465 2:969dfa4f2436 5 #ifndef PidWrapper_H
joe4465 2:969dfa4f2436 6 #define PidWrapper_H
joe4465 2:969dfa4f2436 7
joe4465 2:969dfa4f2436 8 class PidWrapper // begin declaration of the class
joe4465 2:969dfa4f2436 9 {
joe4465 2:969dfa4f2436 10 public: // begin public section
joe4465 2:969dfa4f2436 11 PidWrapper(); // constructor
joe4465 2:969dfa4f2436 12 ~PidWrapper();
joe4465 2:969dfa4f2436 13
joe4465 2:969dfa4f2436 14 struct PidOutput
joe4465 2:969dfa4f2436 15 {
joe4465 2:969dfa4f2436 16 double yaw;
joe4465 2:969dfa4f2436 17 double pitch;
joe4465 2:969dfa4f2436 18 double roll;
joe4465 2:969dfa4f2436 19 };
joe4465 2:969dfa4f2436 20
joe4465 2:969dfa4f2436 21 struct PidParameter
joe4465 2:969dfa4f2436 22 {
joe4465 2:969dfa4f2436 23 double p;
joe4465 2:969dfa4f2436 24 double i;
joe4465 2:969dfa4f2436 25 double d;
joe4465 2:969dfa4f2436 26 };
joe4465 2:969dfa4f2436 27
joe4465 2:969dfa4f2436 28 struct PidState
joe4465 2:969dfa4f2436 29 {
joe4465 2:969dfa4f2436 30 double setPoint;
joe4465 2:969dfa4f2436 31 double processValue;
joe4465 2:969dfa4f2436 32 double output;
joe4465 2:969dfa4f2436 33 };
joe4465 2:969dfa4f2436 34
joe4465 2:969dfa4f2436 35 struct FlightControllerPidParameters
joe4465 2:969dfa4f2436 36 {
joe4465 2:969dfa4f2436 37 PidParameter yawRate;
joe4465 2:969dfa4f2436 38 PidParameter pitchRate;
joe4465 2:969dfa4f2436 39 PidParameter rollRate;
joe4465 2:969dfa4f2436 40 PidParameter yawStab;
joe4465 2:969dfa4f2436 41 PidParameter pitchStab;
joe4465 2:969dfa4f2436 42 PidParameter rollStab;
joe4465 2:969dfa4f2436 43 };
joe4465 2:969dfa4f2436 44
joe4465 2:969dfa4f2436 45 struct NavigationControllerPidParameters
joe4465 2:969dfa4f2436 46 {
joe4465 2:969dfa4f2436 47 PidParameter altitudeRate;
joe4465 2:969dfa4f2436 48 PidParameter altitudeStab;
joe4465 2:969dfa4f2436 49 };
joe4465 2:969dfa4f2436 50
joe4465 2:969dfa4f2436 51 struct RatePidState
joe4465 2:969dfa4f2436 52 {
joe4465 2:969dfa4f2436 53 PidState yawRate;
joe4465 2:969dfa4f2436 54 PidState pitchRate;
joe4465 2:969dfa4f2436 55 PidState rollRate;
joe4465 2:969dfa4f2436 56 };
joe4465 2:969dfa4f2436 57
joe4465 2:969dfa4f2436 58 struct StabPidState
joe4465 2:969dfa4f2436 59 {
joe4465 2:969dfa4f2436 60 PidState yawRate;
joe4465 2:969dfa4f2436 61 PidState pitchRate;
joe4465 2:969dfa4f2436 62 PidState rollRate;
joe4465 2:969dfa4f2436 63 PidState yawStab;
joe4465 2:969dfa4f2436 64 PidState pitchStab;
joe4465 2:969dfa4f2436 65 PidState rollStab;
joe4465 2:969dfa4f2436 66 };
joe4465 2:969dfa4f2436 67
joe4465 2:969dfa4f2436 68 bool initialise(PidParameter pidParameter, double inputMin, double inputMax, double outputMin, double outputMax, float updateTime);
joe4465 2:969dfa4f2436 69 double compute(double setPoint, double processValue);
joe4465 2:969dfa4f2436 70 PidWrapper::PidParameter getPidParameters();
joe4465 2:969dfa4f2436 71 void reset();
joe4465 2:969dfa4f2436 72 void setPidParameters(PidWrapper::PidParameter pidParameters);
joe4465 2:969dfa4f2436 73 void setBias(float bias);
joe4465 2:969dfa4f2436 74
joe4465 2:969dfa4f2436 75 private:
joe4465 2:969dfa4f2436 76 PID* _pid;
joe4465 2:969dfa4f2436 77 };
joe4465 2:969dfa4f2436 78
joe4465 2:969dfa4f2436 79 #endif