set max linvel

CMakeLists.txt

@@ -21,7 +21,7 @@ set(RUST_STATIC_LIBRARY "${RUST_TARGET_DIR}/${CARGO_TARGET}/${CARGO_BUILD_TYPE}/
 
 idf_component_register(
     SRCS "placeholder.c"
-    INCLUDE_DIRS "" "${RUST_INCLUDE_DIR}"
+    INCLUDE_DIRS "" 
     PRIV_REQUIRES "${RUST_DEPS}"
 )
 idf_build_get_property(sdkconfig SDKCONFIG)

src/ccont.rs

@@ -53,6 +53,17 @@ pub extern "C" fn set_input(ptr: *mut StackedController, inp: Input) {
     controller.set_input(inp);
 }
 
+
+#[unsafe(no_mangle)]
+pub extern "C" fn set_max_linvel(ptr: *mut StackedController, max_linvel: f32) {
+    let controller = unsafe {
+        assert!(!ptr.is_null());
+        &mut *ptr
+    };
+
+    controller.set_max_linvel(max_linvel);
+}
+
 #[unsafe(no_mangle)]
 pub extern "C" fn set_cur_rot(ptr: *mut StackedController, rot: QuatC) {
     let controller = unsafe {
@@ -92,3 +103,17 @@ pub extern "C" fn set_cur_pos(ptr: *mut StackedController, pos: Vec3C) {
 
     controller.set_pos(pos.into());
 }
+
+#[unsafe(no_mangle)]
+pub extern "C" fn reset_pid_states(ptr: *mut StackedController){
+    let controller = unsafe {
+        assert!(!ptr.is_null());
+        &mut *ptr
+    };
+    controller.angvel_rt.module.pid.reset_state();
+    controller.rotation_rt.module.pid.reset_state();
+    // controller.linaccel_rt.module.pid.reset_state();
+    controller.linvel_rt.module.pid.reset_state();
+    controller.position_rt.module.pid.reset_state();
+
+}

src/config.rs

@@ -26,7 +26,7 @@ pub struct ControllerStackConfig {
 pub struct ControllerConfig {
     pub stack: ControllerStackConfig,
 
-    // For each motor, [Pitch, Roll, Yaw] (Rotation around x,y,z)
+    // For each motor, [Roll, Pitch, Yaw] (Rotation around x,y,z)
     pub motor_map: [[f32; 3]; 4],
 
     pub mass: f32,

src/stacked.rs

@@ -42,6 +42,9 @@ pub struct StackedController {
 }
 
 impl StackedController {
+    pub fn set_max_linvel(&mut self, max_linvel: f32) {
+        self.position_rt.module.max_linvel = max_linvel;
+    }
     pub fn new(config: ControllerConfig) -> Self {
         let min_throttle = 0.0;
         let max_throttle = 1.0;

src/stacked/modules.rs

@@ -1,6 +1,7 @@
 use crate::DroneState;
 use crate::PidConfig;
 use nalgebra as na;
+use nalgebra::zero;
 
 pub mod acceleration;
 pub mod angular_rate;
@@ -101,6 +102,12 @@ impl PidProcessor {
         }
     }
 
+    pub fn reset_state(&mut self) {
+        self.integral = na::Vector3::<f32>::zeros();
+        self.last_error = na::Vector3::<f32>::zeros();
+        // self.last_error = 0.0;
+    }
+
     pub fn update(
         &mut self,
         target: na::Vector3<f32>,

src/stacked/modules/angular_rate.rs

@@ -1,7 +1,7 @@
 use crate::stacked::modules::*;
 
 pub struct AngularRateController {
-    pid: PidProcessor,
+    pub pid: PidProcessor,
 }
 
 impl AngularRateController {

src/stacked/modules/position.rs

@@ -1,8 +1,8 @@
 use crate::stacked::modules::*;
 
 pub struct PositionController {
-    pid: PidProcessor,
+    pub pid: PidProcessor,
-    max_linvel: f32,
+    pub max_linvel: f32,
 }
 
 impl PositionController {

src/stacked/modules/rotation.rs

@@ -3,7 +3,7 @@ use nalgebra::UnitQuaternion;
 use crate::stacked::modules::*;
 
 pub struct RotationController {
-    pid: PidProcessor,
+    pub pid: PidProcessor,
 }
 impl RotationController {
     pub fn new(pid: PidProcessor) -> Self {

src/stacked/modules/velocity.rs

@@ -1,7 +1,7 @@
 use crate::stacked::modules::*;
 
 pub struct VelocityController {
-    pid: PidProcessor,
+    pub pid: PidProcessor,
 }
 
 impl VelocityController {