25 lines
487 B
C++
25 lines
487 B
C++
|
#pragma once
|
||
|
|
|
||
|
|
#include <vector>
|
||
|
|
|
||
|
|
struct PidControllerInput
|
||
|
|
{
|
||
|
|
double vspeed_fps;
|
||
|
|
double reference;
|
||
|
|
};
|
||
|
|
|
||
|
|
struct PidControllerOutput
|
||
|
|
{
|
||
|
|
double output;
|
||
|
|
};
|
||
|
|
|
||
|
|
// Define sequence of input values. These are the values actually used with
|
||
|
|
// Harrier-GR3 when startup_zeros=false, but we use the same inputs for
|
||
|
|
// startup_zeros=true also.
|
||
|
|
//
|
||
|
|
extern std::vector<PidControllerInput> pidControllerInputs;
|
||
|
|
|
||
|
|
// Expected output.
|
||
|
|
//
|
||
|
|
extern std::vector<PidControllerOutput> pidControllerOutputs;
|