31 lines
778 B
C++
31 lines
778 B
C++
#pragma once
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#include <vector>
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struct PidControllerInput
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{
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double vspeed_fps;
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double reference;
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};
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struct PidControllerOutput
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{
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double output;
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};
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// Define sequence of input values. These are the values actually used with
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// Harrier-GR3 when startup_current=true, but we use the same inputs for
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// startup_current=false also.
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//
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extern std::vector<PidControllerInput> pidControllerInputs;
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// Expected output when startup_current is false (the default old behaviour).
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//
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// Note the large transient at the start which messes up the initial behaviour.
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//
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extern std::vector<PidControllerOutput> pidControllerOutputs0;
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// Expected output when startup_current is true (the new improved behaviour).
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//
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extern std::vector<PidControllerOutput> pidControllerOutputs1;
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