alt_ctrl.h

Go to the documentation of this file.

 
#ifndef ALT_CTRL_H
#define ALT_CTRL_H
 
typedef struct {
    float hover;            
    float kp_h, kp_v, ki_v;
    float thr_min, thr_max;
    float i_lim;
    float integ;
} alt_ctrl_t;
 
void  alt_ctrl_init(alt_ctrl_t *c, float hover);
void  alt_ctrl_reset(alt_ctrl_t *c, float integ);
float alt_ctrl_vz_sp(const alt_ctrl_t *c, float h_sp, float h, float vz_up, float vz_dn);
float alt_ctrl_step(alt_ctrl_t *c, float vz_sp, float vz, float cos_tilt, float dt);
 
#endif /* ALT_CTRL_H */