src/main/navigation/sqrt_controller.h

   1 /*
   2  * This file is part of INAV.
   3  *
   4  * INAV is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * INAV is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 typedef struct sqrt_controller_s {
  21     float kp;             // proportional gain
  22     float error;          // error calced
  23     float error_min;      // error limit in negative direction
  24     float error_max;      // error limit in positive direction
  25     float derivative_max; // maximum derivative of output
  26 } sqrt_controller_t;
  27
  28 float sqrtControllerApply(sqrt_controller_t *sqrt_controller_pointer, float target, float measurement, float deltaTime);
  29 void sqrtControllerInit(sqrt_controller_t *sqrt_controller_pointer, const float kp, const float output_min, const float output_max, const float derivative_out_max);