PdAttitudeControl.h

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/*
LED Blinker header file
 
Author: Alex Reynolds
*/ 
#ifndef APPS_PD_ATTITUDE_CONTROL_H
#define APPS_PD_ATTITUDE_CONTROL_H
 
#include "flight/App.h"
#include "flight/FlightExecutive.h"
#include "core/CartesianVector.hpp"
#include "dynamics/Quaternion.h"
#include "dynamics/DCM.h"
#include "core/mathmacros.h"
 
#include "telemetry/tlm_PdAttitudeControl.h"
#include "command/cmd_PdAttitudeControl.h"
 
namespace warpos {
    
    class PdAttitudeControl : public App {
    public:
        START_PARAMS
            SIGNAL(P,                       CartesianVector3,               CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(K,                       CartesianVector3,               CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(angle_deadband_rad,      floating_point,                 0.0)
        END_PARAMS
 
        START_INPUTS
            SIGNAL(cmd_quat,                clockwerk::Quaternion,          clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0}))
            SIGNAL(act_quat,                clockwerk::Quaternion,          clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0}))
            SIGNAL(cmd_omega__cmd,          CartesianVector3,               CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(act_omega__act,          CartesianVector3,               CartesianVector3({0.0, 0.0, 0.0}))
        END_INPUTS
 
        START_OUTPUTS
            SIGNAL(cmd_torque__body,        CartesianVector3,               CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(err_quat,                clockwerk::Quaternion,          clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0}))
            SIGNAL(err_angle,               floating_point,                 0.0)
            SIGNAL(err_omega,               CartesianVector3,               CartesianVector3({0.0, 0.0, 0.0}))
        END_OUTPUTS
 
        PdAttitudeControl(FlightExecutive &executive);
 
        virtual ~PdAttitudeControl() {};
    
        int16 activate() override;

        int16 deactivate() override;

        int16 command(uint16 apid, uint8* buffer, uint16 size) override;
    protected:
        int16 start() override;
        int16 execute() override;

        floating_point _angle;

        CartesianVector3 _K = CartesianVector3({0.0, 0.0, 0.0});
        CartesianVector3 _PP = CartesianVector3({0.0, 0.0, 0.0});
        floating_point _att_deadband_rad = 0.0;

        CartesianVector3 _err_quat_vec;

        CartesianVector3 _prop_cmd;
        CartesianVector3 _deriv_cmd;

        clockwerk::Quaternion _quat_act_cmd;

        tlm_gnc_pd_att_ctrl_data _tlm_data;
    };
}
 
#endif