controller.h

/*
 * Copyright (c) 2017, James Jackson and Daniel Koch, BYU MAGICC Lab
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 *
 * * 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.
 *
 * * 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,
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 */

#ifndef ROSFLIGHT_FIRMWARE_CONTROLLER_H
#define ROSFLIGHT_FIRMWARE_CONTROLLER_H

#include "interface/param_listener.h"

#include "command_manager.h"
#include "estimator.h"

#include <turbomath/turbomath.h>

#include <cstdbool>
#include <cstdint>

namespace rosflight_firmware
{
class ROSflight;

class Controller : public ParamListenerInterface
{
public:
  struct Output
  {
    float Fx;
    float Fy;
    float Fz;
    float Qx;
    float Qy;
    float Qz;
  };

  Controller(ROSflight & rf);

  inline const Output & output() const { return output_; }
  inline float max_thrust() const { return max_thrust_; }

  void init();
  void run();

  void calculate_max_thrust();
  void calculate_equilbrium_torque_from_rc();
  void param_change_callback(uint16_t param_id) override;
  bool is_throttle_high(float threshold);

private:
  class PID
  {
  public:
    PID();
    void init(float kp, float ki, float kd, float max, float min, float tau);
    float run(float dt, float x, float x_c, bool update_integrator);
    float run(float dt, float x, float x_c, bool update_integrator, float xdot);

  private:
    float kp_;
    float ki_;
    float kd_;

    float max_;
    float min_;

    float integrator_;
    float differentiator_;
    float prev_x_;
    float tau_;
  };

  ROSflight & RF_;

  Controller::Output run_pid_loops(uint32_t dt, const Estimator::State & state,
                                   const control_t & command, bool update_integrators);

  Output output_;

  PID roll_;
  PID roll_rate_;
  PID pitch_;
  PID pitch_rate_;
  PID yaw_rate_;

  float max_thrust_;

  uint64_t prev_time_us_;
};

} // namespace rosflight_firmware

#endif // ROSFLIGHT_FIRMWARE_CONTROLLER_H