Joseph Roberts / Mbed 2 deprecated Quadcopter_mk2

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

Diff: FlightController/StabController/StabController.h

Revision:
2:969dfa4f2436
Parent:
0:c6a85bb2a827
--- a/FlightController/StabController/StabController.h	Wed Mar 04 18:53:43 2015 +0000
+++ b/FlightController/StabController/StabController.h	Wed Apr 01 11:19:21 2015 +0000
@@ -0,0 +1,44 @@
+#include "mbed.h"
+#include "Global.h"
+#include "PidWrapper.h"
+#include "ConfigFileWrapper.h"
+#include "NavigationController.h"
+
+#ifndef StabController_H
+#define StabController_H
+
+class StabController               
+{
+  public:                  
+    StabController(Sensors& sensors, NavigationController& navigationController, ConfigFileWrapper& configFileWrapper); 
+    ~StabController();
+    
+    PidWrapper::PidOutput compute();
+    PidWrapper::FlightControllerPidParameters getPidParameters();
+    void reset();
+    void setYawStabPidParameters(PidWrapper::PidParameter pidParameters);
+    void setPitchStabPidParameters(PidWrapper::PidParameter pidParameters);
+    void setRollStabPidParameters(PidWrapper::PidParameter pidParameters);
+    void setYawRatePidParameters(PidWrapper::PidParameter pidParameters);
+    void setPitchRatePidParameters(PidWrapper::PidParameter pidParameters);
+    void setRollRatePidParameters(PidWrapper::PidParameter pidParameters);
+    PidWrapper::StabPidState getStabPidState();
+    
+  private:
+    Sensors& _sensors;
+    NavigationController& _navigationController;
+    ConfigFileWrapper& _configFileWrapper;
+    PidWrapper _yawRatePidController;
+    PidWrapper _pitchRatePidController;
+    PidWrapper _rollRatePidController;
+    PidWrapper _yawStabPidController;
+    PidWrapper _pitchStabPidController;
+    PidWrapper _rollStabPidController;
+    NavigationController::SetPoint _setPoints;
+    Imu::Rate _rate;
+    Imu::Angle _angle;
+    PidWrapper::PidOutput _stabPidOutputs;
+    PidWrapper::PidOutput _ratePidOutputs;
+};
+
+#endif
\ No newline at end of file