stabilisation.h

/*******************************************************************************
 * Copyright (c) 2009-2014, MAV'RIC Development Team
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without 
 * modification, are permitted provided that the following conditions are met:
 * 
 * 1. Redistributions of source code must retain the above copyright notice, 
 * this list of conditions and the following disclaimer.
 * 
 * 2. Redistributions in binary form must reproduce the above copyright notice, 
 * this list of conditions and the following disclaimer in the documentation 
 * and/or other materials provided with the distribution.
 * 
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
 * POSSIBILITY OF SUCH DAMAGE.
 ******************************************************************************/

/*******************************************************************************
 * \file stabilisation.h
 * 
 * \author MAV'RIC Team
 * \author Felix Schill
 *   
 * \brief Executing the PID controllers for stabilization
 *
 ******************************************************************************/


#ifndef STABILISATION_H_
#define STABILISATION_H_

#ifdef __cplusplus
extern "C" {
#endif

#include <stdint.h>
#include "imu.h"
#include "pid_controller.h"

typedef enum 
{
    VELOCITY_COMMAND_MODE, 
    ATTITUDE_COMMAND_MODE, 
    RATE_COMMAND_MODE
} control_mode_t;

typedef enum     
{
    YAW_RELATIVE, 
    YAW_ABSOLUTE, 
    YAW_COORDINATED
} yaw_mode_t;

typedef struct 
{
    float rpy[3];                               
    float thrust;                               
    float tvel[3];                              
    float theading;                             
    control_mode_t control_mode;                
    yaw_mode_t     yaw_mode;                    
} control_command_t;

typedef struct {
    pid_controller_t rpy_controller[3];         
    pid_controller_t thrust_controller;         
    control_command_t output;                   
} stabiliser_t;

bool stabilisation_init(control_command_t *controls);

void stabilisation_run(stabiliser_t *stabiliser, float dt, float errors[]);

#ifdef __cplusplus
}
#endif

#endif /* STABILISATION_H_ */