Joseph Roberts / Mbed 2 deprecated Quadcopter_mk2

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

FlightController/RateController/RateController.cpp

Committer:
joe4465
Date:
2015-03-04
Revision:
0:c6a85bb2a827
Child:
2:969dfa4f2436

File content as of revision 0:c6a85bb2a827:

#include "RateController.h"

RateController::RateController(){}

RateController::~RateController(){}

bool RateController::initialise(Sensors& sensors, NavigationController& navigationController)
{
    _sensors = sensors;
    _navigationController = navigationController;
    
    ConfigFileWrapper configFileWrapper = new ConfigFileWrapper();
    configFileWrapper.initialise();
    
    _yawRatePidController.initialise(configFileWrapper.getYawRateParameters, IMU_YAW_RATE_MIN, IMU_YAW_RATE_MAX, RATE_PID_CONTROLLER_OUTPUT_MIN, RATE_PID_CONTROLLER_OUTPUT_MAX);
    _pitchRatePidController.initialise(configFileWrapper.getPitchRateParameters, IMU_PITCH_RATE_MIN, IMU_PITCH_RATE_MAX, RATE_PID_CONTROLLER_OUTPUT_MIN, RATE_PID_CONTROLLER_OUTPUT_MAX);
    _rollRatePidController.initialise(configFileWrapper.getRollRateParameters, IMU_ROLL_RATE_MIN, IMU_ROLL_RATE_MAX, RATE_PID_CONTROLLER_OUTPUT_MIN, RATE_PID_CONTROLLER_OUTPUT_MAX);

    DEBUG("Rate controller initialised");
    return true; 
}

PidWrapper::PidOutputs RateController::compute()
{
    //Update rate PID process value with gyro rate
    _yawRatePIDController->setProcessValue(_gyroRate[0]);
    _pitchRatePIDController->setProcessValue(_gyroRate[1]);
    _rollRatePIDController->setProcessValue(_gyroRate[2]);
    
    //Update rate PID set point with desired rate from RC
    _yawRatePIDController->setSetPoint(_rcMappedCommands[0]);
    _pitchRatePIDController->setSetPoint(_rcMappedCommands[1]);
    _rollRatePIDController->setSetPoint(_rcMappedCommands[2]);
    
    //Compute rate PID outputs
    _ratePIDControllerOutputs[0] = _yawRatePIDController->compute();
    _ratePIDControllerOutputs[1] = _pitchRatePIDController->compute();
    _ratePIDControllerOutputs[2] = _rollRatePIDController->compute();
}