attitude_controller_p2.h

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/*******************************************************************************
 * \file attitude_controller_p2.h
 * 
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *   
 * \brief A simple quaternion based proportionnal squared controller for 
 * attitude control.
 * 
 * \details It takes as input the desired attitude, the estimated attitude and 
 * the gyro rates.
 * The control scheme is the following:
 * - first the controller computes local roll pitch and yaw angular errors 
 * ( \f$ qerror \f$ ) using quaternion formulation
 * - angular errors are multiplied by a proportional gain \f$ P_{q} \f$
 * - feedback from the gyro is added to the output with gain \f$ P_{g} \f$
 * 
 * in short:
 * \f$  
 *          output = (P_{q} . qerror) - (P_{g} . gyro)  
 * \f$
 *
 ******************************************************************************/


#ifndef ATTITUDE_CONTROLLER_P2_H_
#define ATTITUDE_CONTROLLER_P2_H_

#ifdef __cplusplus
extern "C" {
#endif

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


typedef struct 
{
    const ahrs_t*               ahrs;                           
    const attitude_command_t*   attitude_command;               
    torque_command_t*           torque_command;                 
    attitude_error_estimator_t  attitude_error_estimator;       
    float                       p_gain_angle[3];                
    float                       p_gain_rate[3];                 
} attitude_controller_p2_t;


typedef struct
{
    float p_gain_angle[3];                                      
    float p_gain_rate[3];                                       
} attitude_controller_p2_conf_t;    


void attitude_controller_p2_init(attitude_controller_p2_t* controller, const attitude_controller_p2_conf_t* config, const attitude_command_t* attitude_command, torque_command_t* torque_command, const ahrs_t* ahrs);


void attitude_controller_p2_update(attitude_controller_p2_t* controller);


#ifdef __cplusplus
}
#endif

#endif /* ATTITUDE_CONTROLLER_P2_H_ */