ardupilot/libraries/AC_PID/AC_P.h

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#pragma once
/// @file AC_PD.h
/// @brief Generic P controller with EEPROM-backed storage of constants.
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <stdlib.h>
#include <cmath>
/// @class AC_P
/// @brief Object managing one P controller
class AC_P {
public:
/// Constructor for P that saves its settings to EEPROM
///
/// @note PIs must be named to avoid either multiple parameters with the
/// same name, or an overly complex constructor.
///
/// @param initial_p Initial value for the P term.
///
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AC_P(const float &initial_p = 0.0f) :
default_kp(initial_p)
{
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AP_Param::setup_object_defaults(this, var_info);
}
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CLASS_NO_COPY(AC_P);
/// Iterate the P controller, return the new control value
///
/// Positive error produces positive output.
///
/// @param error The measured error value
/// @param dt The time delta in milliseconds (note
/// that update interval cannot be more
/// than 65.535 seconds due to limited range
/// of the data type).
///
/// @returns The updated control output.
///
float get_p(float error) const;
/// Load gain properties
///
void load_gains();
/// Save gain properties
///
void save_gains();
/// @name parameter accessors
//@{
/// Overload the function call operator to permit relatively easy initialisation
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void operator() (const float p) { _kp.set(p); }
// accessors
AP_Float &kP() { return _kp; }
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const AP_Float &kP() const { return _kp; }
void kP(const float v) { _kp.set(v); }
static const struct AP_Param::GroupInfo var_info[];
private:
AP_Float _kp;
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const float default_kp;
};