velocity_controller_copter.h

/*******************************************************************************
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/*******************************************************************************
 * \file velocity_controller_copter.h
 * 
 * \author MAV'RIC Team
 * \author Felix Schill
 * \author Nicolas Dousse
 * \author Julien Lecoeur
 *   
 * \brief A velocity controller for copters.
 * 
 * \details It takes a velocity command as input and computes an attitude 
 * command as output. It is best suited for a hovering UAV with the thrust along
 * its local -Z axis (like multicopters).
 *
 ******************************************************************************/


#ifndef VELOCITY_CONTROLLER_COPTER_H_
#define VELOCITY_CONTROLLER_COPTER_H_

#ifdef __cplusplus
extern "C" {
#endif

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

typedef struct 
{
    pid_controller_t             pid[3];                    
    float                        thrust_hover_point;        
    const ahrs_t*                ahrs;                      
    const position_estimation_t* pos_est;                   
    const velocity_command_t*    velocity_command;          
    attitude_command_t*          attitude_command;          
    thrust_command_t*            thrust_command;            
} velocity_controller_copter_t;


typedef struct
{
    pid_controller_conf_t   pid_config[3];          
    float                   thrust_hover_point;     

} velocity_controller_copter_conf_t;    


void velocity_controller_copter_init(velocity_controller_copter_t* controller, const velocity_controller_copter_conf_t* config, const ahrs_t* ahrs, const position_estimation_t* pos_est, const velocity_command_t* velocity_command, attitude_command_t* attitude_command, thrust_command_t* thrust_command);


void velocity_controller_copter_update(velocity_controller_copter_t* controller);


#ifdef __cplusplus
}
#endif

#endif /* VELOCITY_CONTROLLER_COPTER_H_ */