Inheritance diagram for Attitude_controller:

Collaboration diagram for Attitude_controller:

Classes
struct	args_t
	Required arguments. More...
struct	conf_t
	Attitude controller configuration. More...
Public Member Functions
	Attitude_controller (const args_t &args, const conf_t &config=default_config())
	Constructor.
bool	update ()
	Main update function.
bool	set_command (const attitude_command_t &command)
	Sets the input command.
bool	get_command (attitude_command_t &command) const
	Returns the input command.
bool	get_output (rate_command_t &command) const
	Returns the output command.
pid_controller_t &	get_pid_X (void)
	Gives acces to internal pid_controller.
pid_controller_t &	get_pid_Y (void)
pid_controller_t &	get_pid_Z (void)
Static Public Member Functions
static conf_t	default_config ()
	Default Configuration.
Protected Attributes
const AHRS &	ahrs_
	Ref to attitude estimation (input)
attitude_command_t &	attitude_command_
	Reference to attitude command (input)
rate_command_t &	rate_command_
	Reference to rate command (output)
attitude_error_estimator_t	attitude_error_estimator_
	Attitude error estimator.
pid_controller_t	pid_ [3]
	Attitude PID controller for roll, pitch and yaw.
float	dt_s_
	The time interval between two updates.
float	last_update_s_
	The time of the last update in s.

Constructor & Destructor Documentation

Attitude_controller::Attitude_controller	(	const args_t &	args,
		const conf_t &	config = `default_config()`
	)

Constructor.

Parameters:

args	Required arguments
config	Configuration

Member Function Documentation

Attitude_controller::conf_t Attitude_controller::default_config ( void ) [inline, static]

Default Configuration.

/return config

bool Attitude_controller::get_command ( attitude_command_t & command ) const [virtual]

Returns the input command.

Parameters:

command Input command

bool Attitude_controller::get_output ( rate_command_t & command ) const [virtual]

Returns the output command.

Parameters:

command output command

pid_controller_t & Attitude_controller::get_pid_X ( void )

Gives acces to internal pid_controller.

bool Attitude_controller::set_command ( const attitude_command_t & command ) [virtual]

Sets the input command.

Parameters:

command Input command

bool Attitude_controller::update ( void ) [virtual]

Main update function.

The documentation for this class was generated from the following files: