Mellinger: support to change gains in bindings

src/modules/interface/controller_mellinger.h

@@ -27,12 +27,82 @@
 #define __CONTROLLER_MELLINGER_H__
 
 #include "stabilizer_types.h"
+#include "math3d.h"
 
-void controllerMellingerInit(void);
-bool controllerMellingerTest(void);
-void controllerMellinger(control_t *control, const setpoint_t *setpoint,
+typedef struct {
+    float mass;
+    float massThrust;
+
+    // XY Position PID
+    float kp_xy;      // P
+    float kd_xy;      // D
+    float ki_xy;      // I
+    float i_range_xy;
+
+    // Z Position
+    float kp_z;       // P
+    float kd_z;       // D
+    float ki_z;       // I
+    float i_range_z;
+
+    // Attitude
+    float kR_xy;      // P
+    float kw_xy;      // D
+    float ki_m_xy;    // I
+    float i_range_m_xy;
+
+    // Yaw
+    float kR_z;       // P
+    float kw_z;       // D
+    float ki_m_z;     // I
+    float i_range_m_z;
+
+    // roll and pitch angular velocity
+    float kd_omega_rp; // D
+
+    // Helper variables
+    float i_error_x;
+    float i_error_y;
+    float i_error_z;
+
+    float prev_omega_roll;
+    float prev_omega_pitch;
+    float prev_setpoint_omega_roll;
+    float prev_setpoint_omega_pitch;
+
+    float i_error_m_x;
+    float i_error_m_y;
+    float i_error_m_z;
+
+    // Logging variables
+    struct vec z_axis_desired;
+
+    float cmd_thrust;
+    float cmd_roll;
+    float cmd_pitch;
+    float cmd_yaw;
+    float r_roll;
+    float r_pitch;
+    float r_yaw;
+    float accelz;
+} controllerMellinger_t;
+
+void controllerMellingerInit(controllerMellinger_t* self);
+bool controllerMellingerTest(controllerMellinger_t* self);
+void controllerMellinger(controllerMellinger_t* self, control_t *control, const setpoint_t *setpoint,
+                                         const sensorData_t *sensors,
+                                         const state_t *state,
+                                         const uint32_t tick);
+
+#ifdef CRAZYFLIE_FW
+
+void controllerMellingerFirmwareInit(void);
+bool controllerMellingerFirmwareTest(void);
+void controllerMellingerFirmware(control_t *control, const setpoint_t *setpoint,
                                          const sensorData_t *sensors,
                                          const state_t *state,
                                          const uint32_t tick);
 
+#endif // CRAZYFLIE_FW
+
 #endif //__CONTROLLER_MELLINGER_H__

src/modules/src/controller.c

@@ -25,7 +25,7 @@ typedef struct {
 static ControllerFcns controllerFunctions[] = {
   {.init = 0, .test = 0, .update = 0, .name = "None"}, // Any
   {.init = controllerPidInit, .test = controllerPidTest, .update = controllerPid, .name = "PID"},
-  {.init = controllerMellingerInit, .test = controllerMellingerTest, .update = controllerMellinger, .name = "Mellinger"},
+  {.init = controllerMellingerFirmwareInit, .test = controllerMellingerFirmwareTest, .update = controllerMellingerFirmware, .name = "Mellinger"},
   {.init = controllerINDIInit, .test = controllerINDITest, .update = controllerINDI, .name = "INDI"},
   {.init = controllerBrescianiniInit, .test = controllerBrescianiniTest, .update = controllerBrescianini, .name = "Brescianini"},
 };