Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-01 21:48:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

uncrustify libraries/APM_PI/APM_PI.h

Browse Source
This commit is contained in:
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

140
libraries/APM_PI/APM_PI.h
View File

@ -14,83 +14,99 @@
class APM_PI { class APM_PI {
public: public:
/// Constructor for PI that saves its settings to EEPROM /// Constructor for PI that saves its settings to EEPROM
/// ///
/// @note PI must be named to avoid either multiple parameters with the /// @note PI must be named to avoid either multiple parameters with the
/// same name, or an overly complex constructor. /// same name, or an overly complex constructor.
/// ///
/// @param initial_p Initial value for the P term. /// @param initial_p Initial value for the P term.
/// @param initial_i Initial value for the I term. /// @param initial_i Initial value for the I term.
/// @param initial_imax Initial value for the imax term.4 /// @param initial_imax Initial value for the imax term.4
/// ///
APM_PI(const float &initial_p = 0.0, APM_PI(const float & initial_p = 0.0,
const float &initial_i = 0.0, const float & initial_i = 0.0,
const int16_t &initial_imax = 0.0) const int16_t & initial_imax = 0.0)
{ {
_kp = initial_p; _kp = initial_p;
_ki = initial_i; _ki = initial_i;
_imax = initial_imax; _imax = initial_imax;
} }
/// Iterate the PI, return the new control value /// Iterate the PI, return the new control value
/// ///
/// Positive error produces positive output. /// Positive error produces positive output.
/// ///
/// @param error The measured error value /// @param error The measured error value
/// @param dt The time delta in milliseconds (note /// @param dt The time delta in milliseconds (note
/// that update interval cannot be more /// that update interval cannot be more
/// than 65.535 seconds due to limited range /// than 65.535 seconds due to limited range
/// of the data type). /// of the data type).
/// @param scaler An arbitrary scale factor /// @param scaler An arbitrary scale factor
/// ///
/// @returns The updated control output. /// @returns The updated control output.
/// ///
//long get_pi(int32_t error, float dt); //long get_pi(int32_t error, float dt);
int32_t 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_p(int32_t error);
int32_t get_i(int32_t error, float dt); int32_t get_i(int32_t error, float dt);
/// Reset the PI integrator /// Reset the PI integrator
/// ///
void reset_I(); void reset_I();
/// Load gain properties /// Load gain properties
/// ///
void load_gains(); void load_gains();
/// Save gain properties /// Save gain properties
/// ///
void save_gains(); void save_gains();
/// @name parameter accessors /// @name parameter accessors
//@{ //@{
/// Overload the function call operator to permit relatively easy initialisation /// Overload the function call operator to permit relatively easy initialisation
void operator() (const float p, void operator () (const float p,
const float i, const float i,
const int16_t imaxval) { const int16_t imaxval) {
_kp = p; _ki = i; _imax = imaxval; _kp = p; _ki = i; _imax = imaxval;
} }
float kP() const { return _kp.get(); } float kP() const {
float kI() const { return _ki.get(); } return _kp.get();
int16_t imax() const { return _imax.get(); } }
float kI() const {
return _ki.get();
}
int16_t imax() const {
return _imax.get();
}
void kP(const float v) { _kp.set(v); } void kP(const float v) {
void kI(const float v) { _ki.set(v); } _kp.set(v);
void imax(const int16_t v) { _imax.set(abs(v)); } }
float get_integrator() const { return _integrator; } void kI(const float v) {
void set_integrator(float i) { _integrator = i; } _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: private:
AP_Float _kp; AP_Float _kp;
AP_Float _ki; AP_Float _ki;
AP_Int16 _imax; AP_Int16 _imax;
float _integrator; ///< integrator value float _integrator; ///< integrator value
}; };
#endif #endif