ardupilot/libraries/AC_PID/AC_P_2D.h

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#pragma once
/// @file AC_P_2D.h
/// @brief 2-axis P controller with EEPROM-backed storage of constants.
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
/// @class AC_P_2D
/// @brief 2-axis P controller
class AC_P_2D {
public:
// constructor
AC_P_2D(float initial_p, float dt);
// set time step in seconds
void set_dt(float dt) { _dt = dt; }
// set target and measured inputs to P controller and calculate outputs
Vector2f update_all(float &target_x, float &target_y, const Vector2f &measurement, float error_max, float D2_max) WARN_IF_UNUSED;
// set target and measured inputs to P controller and calculate outputs
// measurement is provided as 3-axis vector but only x and y are used
Vector2f update_all(float &target_x, float &target_y, const Vector3f &measurement, float error_max, float D2_max) WARN_IF_UNUSED {
return update_all(target_x, target_y, Vector2f(measurement.x, measurement.y), error_max, D2_max);
}
// get accessors
AP_Float &kP() WARN_IF_UNUSED { return _kp; }
const AP_Float &kP() const WARN_IF_UNUSED { return _kp; }
// set accessor
void kP(float v) { _kp.set(v); }
// parameter var table
static const struct AP_Param::GroupInfo var_info[];
private:
// parameters
AP_Float _kp;
// internal variables
float _dt; // time step in seconds
};