shift_tracking.h

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/*
 * Copyright (C) 2018 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 *
 * This file is part of paparazzi
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */

#ifndef SHIFT_TRACKING_H
#define SHIFT_TRACKING_H

#include "std.h"

struct shift_tracking_t {
  float kp;     
  float kd;     
  float ki;     
  float shift;  
};

extern struct shift_tracking_t shift_tracking;

extern void shift_tracking_init(void);

extern void shift_tracking_run(float *shift);

extern void shift_tracking_reset(void);

#define shift_tracking_SetKp(_v) { shift_tracking.kp = _v; shift_tracking_update_gains(); }
#define shift_tracking_SetKd(_v) { shift_tracking.kd = _v; shift_tracking_update_gains(); }
#define shift_tracking_SetKi(_v) { shift_tracking.ki = _v; shift_tracking_update_gains(); }
extern void shift_tracking_update_gains(void);

#endif