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use nalgebra::{Rotation3, Vector3};
use pid_controller::PD;

#[derive(Clone, Debug)]
pub struct AltitudeController {
    pub pd: PD<f32>,
    pub gravity: f32,
}

impl Default for AltitudeController {
    fn default() -> Self {
        Self {
            pd: PD {
                p: Default::default(),
                kd: 1.,
            },
            gravity: 9.81,
        }
    }
}

impl AltitudeController {
    pub fn acceleration(
        &self,
        altitude_cmd: f32,
        vertical_velocity_cmd: f32,
        altitude: f32,
        vertical_velocity: f32,
        attitude: Vector3<f32>,
        acceleration_ff: f32,
    ) -> f32 {
        let b_z = Rotation3::from_euler_angles(attitude.x, attitude.y, attitude.z)[(2, 2)];
        let u_1 = self.pd.control(
            altitude_cmd,
            altitude,
            vertical_velocity_cmd,
            vertical_velocity,
        );

        (u_1 + acceleration_ff - self.gravity) / b_z
    }
}