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RustPhysicsMQ
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linear acceleration WIP

This commit is contained in:
franchioping 2026-03-03 11:17:30 +00:00
parent 3790a7c337
commit 9b0dc51d4c
1 changed files with 5 additions and 0 deletions
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5
src/drone/stacked/modules.rs
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@ -2,9 +2,11 @@ use crate::config::PidConfig;
use crate::drone::stacked::DroneState; use crate::drone::stacked::DroneState;
use nalgebra as na; use nalgebra as na;
pub mod acceleration;
pub mod angular_rate; pub mod angular_rate;
pub mod rotation; pub mod rotation;
pub use acceleration::AccelerationController;
pub use angular_rate::AngularRateController; pub use angular_rate::AngularRateController;
pub use rotation::RotationController; pub use rotation::RotationController;
@ -73,6 +75,9 @@ pub struct AngularRate(pub na::Vector3<f32>); // rad/s
#[derive(Clone, Copy, Debug, Default)] #[derive(Clone, Copy, Debug, Default)]
pub struct Torque(pub na::Vector3<f32>); // control output pub struct Torque(pub na::Vector3<f32>); // control output
#[derive(Clone, Copy, Debug, Default)]
pub struct Throttle(pub f32);
pub struct PidProcessor { pub struct PidProcessor {
kp: na::Vector3<f32>, kp: na::Vector3<f32>,
ki: na::Vector3<f32>, ki: na::Vector3<f32>,