Struct MultiCopterAttitudeController

pub struct MultiCopterAttitudeController {
    pub roll_rate: PID,
    pub pitch_rate: PID,
    pub yaw_rate: PID,
    pub attitude_controller: AttitudeController,
}

use embedded_flight_control::MultiCopterAttitudeController;

let mut controller = MultiCopterAttitudeController::default();

// Input the desired attitude and angular velocity with the current attitude
controller.attitude_controller.input(
    Quaternion::default(),
    Vector3::default(),
    Quaternion::default(),
);

// Output the control to the motors with the current gyroscope data.
let output = controller.motor_output(Vector3::default(), 1);
dbg!(output);

Fields

roll_rate: PID

pitch_rate: PID

yaw_rate: PID

attitude_controller: AttitudeController

Implementations

impl MultiCopterAttitudeController

pub fn motor_output( &mut self, gyro: Vector3<f32>, now_ms: u32, ) -> MotorOutput<f32>

Calculate the motor output of the controller (in -1 ~ +1) .

pub fn motor_output_with_limit( &mut self, gyro: Vector3<f32>, now_ms: u32, limit: [bool; 3], ) -> MotorOutput<f32>

Calculate the motor output of the controller (in -1 ~ +1) with an optional limit for roll, pitch, and yaw.

pub fn update_throttle_rpy_mix(&mut self)

Trait Implementations

impl Default for MultiCopterAttitudeController

fn default() -> Self

Returns the “default value” for a type.