2012-01-29 01:21:43 -04:00
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file AC_PID.cpp
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/// @brief Generic PID algorithm
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#include <math.h>
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#include "AC_PID.h"
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2012-02-12 07:25:50 -04:00
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const AP_Param::GroupInfo AC_PID::var_info[] PROGMEM = {
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AP_GROUPINFO("P", AC_PID, _kp),
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AP_GROUPINFO("I", AC_PID, _ki),
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AP_GROUPINFO("D", AC_PID, _kd),
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AP_GROUPINFO("IMAX", AC_PID, _imax),
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AP_GROUPEND
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};
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2012-01-29 01:21:43 -04:00
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int32_t AC_PID::get_p(int32_t error)
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{
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return (float)error * _kp;
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}
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int32_t AC_PID::get_i(int32_t error, float dt)
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{
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if((_ki != 0) && (dt != 0)){
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_integrator += ((float)error * _ki) * dt;
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if (_integrator < -_imax) {
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_integrator = -_imax;
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} else if (_integrator > _imax) {
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_integrator = _imax;
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}
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}
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return _integrator;
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}
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int32_t AC_PID::get_d(int32_t input, float dt)
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{
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if ((_kd != 0) && (dt != 0)) {
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_derivative = (input - _last_input) / dt;
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// discrete low pass filter, cuts out the
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// high frequency noise that can drive the controller crazy
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_derivative = _last_derivative +
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(dt / ( _filter + dt)) * (_derivative - _last_derivative);
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// update state
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_last_input = input;
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_last_derivative = _derivative;
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// add in derivative component
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return _kd * _derivative;
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}
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2012-02-12 07:25:23 -04:00
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return 0;
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2012-01-29 01:21:43 -04:00
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}
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int32_t AC_PID::get_pi(int32_t error, float dt)
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{
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return get_p(error) + get_i(error, dt);
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}
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int32_t AC_PID::get_pid(int32_t error, float dt)
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{
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return get_p(error) + get_i(error, dt) + get_d(error, dt);
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}
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/*
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int32_t AC_PID::get_pid(int32_t error, float dt)
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{
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// Compute proportional component
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_output = error * _kp;
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// Compute derivative component if time has elapsed
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if ((fabs(_kd) > 0) && (dt > 0)) {
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_derivative = (error - _last_input) / dt;
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// discrete low pass filter, cuts out the
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// high frequency noise that can drive the controller crazy
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_derivative = _last_derivative +
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(dt / ( _filter + dt)) * (_derivative - _last_derivative);
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// update state
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_last_input = error;
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_last_derivative = _derivative;
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// add in derivative component
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_output += _kd * _derivative;
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}
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// Compute integral component if time has elapsed
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if ((fabs(_ki) > 0) && (dt > 0)) {
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_integrator += (error * _ki) * dt;
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if (_integrator < -_imax) {
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_integrator = -_imax;
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} else if (_integrator > _imax) {
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_integrator = _imax;
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}
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_output += _integrator;
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}
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return _output;
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}
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*/
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void
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AC_PID::reset_I()
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{
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_integrator = 0;
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_last_input = 0;
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_last_derivative = 0;
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}
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void
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AC_PID::load_gains()
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{
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2012-02-12 07:25:50 -04:00
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_kp.load();
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_ki.load();
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_kd.load();
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_imax.load();
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2012-01-29 01:21:43 -04:00
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}
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void
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AC_PID::save_gains()
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{
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2012-02-12 07:25:50 -04:00
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_kp.save();
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_ki.save();
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_kd.save();
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_imax.save();
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2012-01-29 01:21:43 -04:00
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}
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