public PositionControllerNode()
{
this._first_pose_received = false;
this._x_controller = new PidController(this.x_kp, this.x_ki, this.x_kd, this.x_ki_max);
this._y_controller = new PidController(this.y_kp, this.y_ki, this.y_kd, this.y_ki_max);
this._z_controller = new PidController(this.z_kp, this.z_ki, this.z_kd, this.z_ki_max);
}
public HoverControllerNode()
{
// PID params
double ki_max = 20;
double kp = 0;
double ki = 0;
double kd = 0;
this._controller = new PidController(kp, ki, kd, ki_max, 0);
}
public AttitudeControllerNode()
{
//this._prev_time = new RosTime ( new Messages.TimeData ( 0, 0 ) );
this._roll_controller = new PidController(this._roll_kp, this._roll_ki, this._roll_kd, this._roll_ki_max);
this._pitch_controller = new PidController(this._pitch_kp, this._pitch_ki, this._pitch_kd, this._pitch_ki_max);
this._yaw_controller = new PidController(this._yaw_kp, this._yaw_ki, this._yaw_kd, this._yaw_ki_max);
//this._last_imu = new Imu ();
this._z_thrust = 0;
}
