mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.8 KiB
C++
56 lines
1.8 KiB
C++
|
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||
|
|
|
||
|
|
/// @file AC_HELI_PID.cpp
|
||
|
|
/// @brief Generic PID algorithm
|
||
|
|
|
||
|
|
#include <AP_Math.h>
|
||
|
|
#include "AC_HELI_PID.h"
|
||
|
|
|
||
|
|
const AP_Param::GroupInfo AC_HELI_PID::var_info[] PROGMEM = {
|
||
|
|
// @Param: P
|
||
|
|
// @DisplayName: PID Proportional Gain
|
||
|
|
// @Description: P Gain which produces an output value that is proportional to the current error value
|
||
|
|
AP_GROUPINFO("P", 0, AC_HELI_PID, _kp, 0),
|
||
|
|
// @Param: I
|
||
|
|
// @DisplayName: PID Integral Gain
|
||
|
|
// @Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error
|
||
|
|
AP_GROUPINFO("I", 1, AC_HELI_PID, _ki, 0),
|
||
|
|
// @Param: D
|
||
|
|
// @DisplayName: PID Derivative Gain
|
||
|
|
// @Description: D Gain which produces an output that is proportional to the rate of change of the error
|
||
|
|
AP_GROUPINFO("D", 2, AC_HELI_PID, _kd, 0),
|
||
|
|
// @Param: IMAX
|
||
|
|
// @DisplayName: PID Integral Maximum
|
||
|
|
// @Description: The maximum/minimum value that the I term can output
|
||
|
|
AP_GROUPINFO("IMAX", 3, AC_HELI_PID, _imax, 0),
|
||
|
|
// @Param: FC
|
||
|
|
// @DisplayName: PID+FF FeedForward Gain
|
||
|
|
// @Description: FF Gain which produces an output value that is proportional to the current error value
|
||
|
|
AP_GROUPINFO("FF", 4, AC_HELI_PID, _ff, 0),
|
||
|
|
AP_GROUPEND
|
||
|
|
};
|
||
|
|
|
||
|
|
float AC_HELI_PID::get_ff(float requested_rate) const
|
||
|
|
{
|
||
|
|
return (float)requested_rate * _ff;
|
||
|
|
}
|
||
|
|
|
||
|
|
// This is an integrator which tends to decay to zero naturally
|
||
|
|
// if the error is zero.
|
||
|
|
|
||
|
|
float AC_HELI_PID::get_leaky_i(float error, float dt, float leak_rate)
|
||
|
|
{
|
||
|
|
if((_ki != 0) && (dt != 0)){
|
||
|
|
_integrator -= (float)_integrator * leak_rate;
|
||
|
|
_integrator += ((float)error * _ki) * dt;
|
||
|
|
if (_integrator < -_imax) {
|
||
|
|
_integrator = -_imax;
|
||
|
|
} else if (_integrator > _imax) {
|
||
|
|
_integrator = _imax;
|
||
|
|
}
|
||
|
|
|
||
|
|
return _integrator;
|
||
|
|
}
|
||
|
|
return 0;
|
||
|
|
}
|