attitude_controller.h

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/*******************************************************************************
 * \file attitude_controller.h
 * 
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *   
 * \brief A cascaded controller for attitude & rate control.
 * 
 * \details It takes a command in attitude (roll/pitch/yaw or quaternion) as
 * input, and computes a torque command on roll pitch and yaw.
 * The inner PID loop controls the angular speed around the 3 axis. This inner 
 * loop is fed by the outer PID loop which controls the attitude. 
 * The error of the outer loop is computed using quaternion arithmetic, and thus
 * avoids gimbal locks as long as the attitude error is smaller than 90 degrees 
 * on the pitch axis.  
 *
 ******************************************************************************/


#ifndef ATTITUDE_CONTROLLER_H_
#define ATTITUDE_CONTROLLER_H_

#ifdef __cplusplus
extern "C" {
#endif

#include "attitude_error_estimator.h"
#include "control_command.h"
#include "ahrs.h"
#include "pid_controller.h"

typedef enum
{
    ATTITUDE_CONTROLLER_MODE_DEFAULT    = 0,    
    ATTITUDE_CONTROLLER_MODE_RATE_ONLY  = 1,    
} attitude_controller_mode_t;


typedef struct 
{
    attitude_error_estimator_t  attitude_error_estimator;   
    pid_controller_t            rate_pid[3];                
    pid_controller_t            angle_pid[3];               
    attitude_controller_mode_t  mode;                       
    const ahrs_t*               ahrs;                       
    const attitude_command_t*   attitude_command;           
    rate_command_t*             rate_command;               
    torque_command_t*           torque_command;             
} attitude_controller_t;


typedef struct
{
    pid_controller_conf_t rate_pid_config[3];   
    pid_controller_conf_t angle_pid_config[3];  
} attitude_controller_conf_t;   


void attitude_controller_init(attitude_controller_t* controller, const attitude_controller_conf_t* config, const ahrs_t* ahrs, attitude_command_t* attitude_command, rate_command_t* rate_command, torque_command_t* torque_command);


void attitude_controller_update(attitude_controller_t* controller);


#ifdef __cplusplus
}
#endif

#endif /* ATTITUDE_CONTROLLER_H_ */