cmd_PdAttitudeControl.h

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/*
PD Attitude Control command definition header file
 
Author: Alex Reynolds
*/
 
#ifndef COMMAND_CMD_PD_ATTITUDE_CONTROL_H
#define COMMAND_CMD_PD_ATTITUDE_CONTROL_H
 
#include "flight/Command.h"
 
// Define the command base for the LED blinker
#define CMD_GNC_PD_ATT_CTRL_BASE    APP_APID_GNC_PD_ATT_CTRL + CMD_APID_BASE
 
// -------------------------------------------------------------------------------------
// PD ATTITUDE CONTROL COMMAND APID DEFINITIONS
// -------------------------------------------------------------------------------------
#define CMD_GNC_PD_ATT_CTRL_CHANGE_GAIN    CMD_GNC_PD_ATT_CTRL_BASE + 0x000
#define CMD_GNC_PD_ATT_CTRL_CHANGE_GAIN_SIZE 8

#define CMD_GNC_PD_ATT_CTRL_SET_DEADBAND    CMD_GNC_PD_ATT_CTRL_BASE + 0x001
#define CMD_GNC_PD_ATT_CTRL_SET_DEADBAND_SIZE 4

COMMAND(cmd_gnc_pd_att_ctrl_change_gain, CMD_GNC_PD_ATT_CTRL_CHANGE_GAIN, CMD_GNC_PD_ATT_CTRL_CHANGE_GAIN_SIZE,
    ((float), P),           // The proportional gain for the controller
    ((float), K)            // The derivative gain for the controller
) 
 
 
COMMAND(cmd_gnc_pd_att_ctrl_change_deadband, CMD_GNC_PD_ATT_CTRL_SET_DEADBAND, CMD_GNC_PD_ATT_CTRL_SET_DEADBAND_SIZE,
    ((float), att_deadband_rad) // The deadband, in radians, for the PD attitude controller
) 
 
#endif