public override void Update(float throttle, AircraftPrincipalAxes output)
{
_frontMotor.Update(throttle + output.Pitch - output.Yaw);
_rearMotor.Update(throttle - output.Pitch - output.Yaw);
_leftMotor.Update(throttle + output.Roll + output.Yaw);
_rightMotor.Update(throttle - output.Roll + output.Yaw);
}
public void Update(AircraftPrincipalAxes gyroAxes, AircraftPrincipalAxes radioAxes, AircraftPrincipalAxes pidAxes, long currentTime)
{
_gyroAxes = gyroAxes;
_radioAxes = radioAxes;
_pidAxes = gyroAxes;
_currentTime = currentTime;
}
public void Update(AircraftPrincipalAxes radio, AircraftPrincipalAxes gyro, float deltaTimeGain)
{
_pitchController.Update(radio.Pitch, gyro.Pitch, deltaTimeGain);
_rollController.Update(radio.Roll, gyro.Roll, deltaTimeGain);
_yawController.Update(radio.Yaw, gyro.Yaw, deltaTimeGain);
Axes.Pitch = _pitchController.Output;
Axes.Roll = _rollController.Output;
Axes.Yaw = _yawController.Output;
}
public TelemetryData()
{
_gyroAxes = new AircraftPrincipalAxes {
Pitch = 0, Roll = 0, Yaw = 0
};
_radioAxes = new AircraftPrincipalAxes {
Pitch = 0, Roll = 0, Yaw = 0
};
_pidAxes = new AircraftPrincipalAxes {
Pitch = 0, Roll = 0, Yaw = 0
};
_currentTime = DateTime.Now.Ticks;
_buffer = new byte[44];
}
public AxesController(PIDSettings pitchSettings, PIDSettings rollSettings, PIDSettings yawSettings, bool useWindup)
{
if (useWindup)
{
_pitchController = new PIDWindup(pitchSettings);
_rollController = new PIDWindup(rollSettings);
_yawController = new PIDWindup(yawSettings);
}
else
{
_pitchController = new ControlAlgorithms.Implementations.PID.PID(pitchSettings);
_rollController = new ControlAlgorithms.Implementations.PID.PID(rollSettings);
_yawController = new ControlAlgorithms.Implementations.PID.PID(yawSettings);
}
Axes = new AircraftPrincipalAxes(){Pitch = 0, Roll = 0, Yaw = 0};
}
public Gyro(AircraftPrincipalAxes axes)
{
Axes = axes;
}
public Radio(float throttle, AircraftPrincipalAxes axes, bool gear)
{
Throttle = throttle;
Axes = axes;
Gear = gear;
}
public DefaultGyro(AircraftPrincipalAxes axes) : base(axes)
{
}
public abstract void Update(float throttle, AircraftPrincipalAxes output);
