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uncrustify libraries/APM_PI/APM_PI.h

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uncrustify 2012-08-16 23:20:38 -07:00 committed by Pat Hickey
parent 72dd47ee56
commit 0aaac4e7db
1 changed files with 78 additions and 62 deletions
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140
libraries/APM_PI/APM_PI.h
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@ -14,83 +14,99 @@
class APM_PI {
public:
/// Constructor for PI that saves its settings to EEPROM
///
/// @note PI 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.
/// Constructor for PI that saves its settings to EEPROM
///
/// @note PI 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.
/// @param initial_i Initial value for the I term.
/// @param initial_imax Initial value for the imax term.4
///
APM_PI(const float &initial_p = 0.0,
const float &initial_i = 0.0,
const int16_t &initial_imax = 0.0)
{
_kp = initial_p;
_ki = initial_i;
_imax = initial_imax;
}
///
APM_PI(const float & initial_p = 0.0,
const float & initial_i = 0.0,
const int16_t & initial_imax = 0.0)
{
_kp = initial_p;
_ki = initial_i;
_imax = initial_imax;
}
/// Iterate the PI, 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).
/// @param scaler An arbitrary scale factor
///
/// @returns The updated control output.
///
//long get_pi(int32_t error, float dt);
int32_t get_pi(int32_t error, float dt);
int32_t get_p(int32_t error);
int32_t get_i(int32_t error, float dt);
/// Iterate the PI, 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).
/// @param scaler An arbitrary scale factor
///
/// @returns The updated control output.
///
//long get_pi(int32_t error, float dt);
int32_t get_pi(int32_t error, float dt);
int32_t get_p(int32_t error);
int32_t get_i(int32_t error, float dt);
/// Reset the PI integrator
///
void reset_I();
/// Reset the PI integrator
///
void reset_I();
/// Load gain properties
///
void load_gains();
/// Load gain properties
///
void load_gains();
/// Save gain properties
///
void save_gains();
/// Save gain properties
///
void save_gains();
/// @name parameter accessors
//@{
/// @name parameter accessors
//@{
/// Overload the function call operator to permit relatively easy initialisation
void operator() (const float p,
const float i,
const int16_t imaxval) {
_kp = p; _ki = i; _imax = imaxval;
}
/// Overload the function call operator to permit relatively easy initialisation
void operator () (const float p,
const float i,
const int16_t imaxval) {
_kp = p; _ki = i; _imax = imaxval;
}
float kP() const { return _kp.get(); }
float kI() const { return _ki.get(); }
int16_t imax() const { return _imax.get(); }
float kP() const {
return _kp.get();
}
float kI() const {
return _ki.get();
}
int16_t imax() const {
return _imax.get();
}
void kP(const float v) { _kp.set(v); }
void kI(const float v) { _ki.set(v); }
void imax(const int16_t v) { _imax.set(abs(v)); }
float get_integrator() const { return _integrator; }
void set_integrator(float i) { _integrator = i; }
void kP(const float v) {
_kp.set(v);
}
void kI(const float v) {
_ki.set(v);
}
void imax(const int16_t v) {
_imax.set(abs(v));
}
float get_integrator() const {
return _integrator;
}
void set_integrator(float i) {
_integrator = i;
}
static const struct AP_Param::GroupInfo var_info[];
static const struct AP_Param::GroupInfo var_info[];
private:
AP_Float _kp;
AP_Float _ki;
AP_Int16 _imax;
AP_Float _kp;
AP_Float _ki;
AP_Int16 _imax;
float _integrator; ///< integrator value
float _integrator; ///< integrator value
};
#endif