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APM_Control: add static create method

This commit is contained in:
Lucas De Marchi 2017-08-30 11:10:44 -07:00 committed by Francisco Ferreira
parent 05c870a4d4
commit 15527d762f
4 changed files with 77 additions and 35 deletions
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29
libraries/APM_Control/AP_PitchController.h
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@ -9,13 +9,16 @@
class AP_PitchController { class AP_PitchController {
public: public:
AP_PitchController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash) : static AP_PitchController create(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms,
aparm(parms), DataFlash_Class &_dataflash) {
autotune(gains, AP_AutoTune::AUTOTUNE_PITCH, parms, _dataflash), return AP_PitchController{ahrs, parms, _dataflash};
_ahrs(ahrs) }
{
AP_Param::setup_object_defaults(this, var_info); constexpr AP_PitchController(AP_PitchController &&other) = default;
}
/* Do not allow copies */
AP_PitchController(const AP_PitchController &other) = delete;
AP_PitchController &operator=(const AP_PitchController&) = delete;
int32_t get_rate_out(float desired_rate, float scaler); int32_t get_rate_out(float desired_rate, float scaler);
int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator); int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator);
@ -33,9 +36,17 @@ public:
AP_Float &kI(void) { return gains.I; } AP_Float &kI(void) { return gains.I; }
AP_Float &kD(void) { return gains.D; } AP_Float &kD(void) { return gains.D; }
AP_Float &kFF(void) { return gains.FF; } AP_Float &kFF(void) { return gains.FF; }
private: private:
const AP_Vehicle::FixedWing &aparm; AP_PitchController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash)
: aparm(parms)
, autotune(gains, AP_AutoTune::AUTOTUNE_PITCH, parms, _dataflash)
, _ahrs(ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
}
const AP_Vehicle::FixedWing &aparm;
AP_AutoTune::ATGains gains; AP_AutoTune::ATGains gains;
AP_AutoTune autotune; AP_AutoTune autotune;
AP_Int16 _max_rate_neg; AP_Int16 _max_rate_neg;

29
libraries/APM_Control/AP_RollController.h
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@ -9,13 +9,16 @@
class AP_RollController { class AP_RollController {
public: public:
AP_RollController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash) : static AP_RollController create(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms,
aparm(parms), DataFlash_Class &_dataflash) {
autotune(gains, AP_AutoTune::AUTOTUNE_ROLL, parms, _dataflash), return AP_RollController{ahrs, parms, _dataflash};
_ahrs(ahrs) }
{
AP_Param::setup_object_defaults(this, var_info); constexpr AP_RollController(AP_RollController &&other) = default;
}
/* Do not allow copies */
AP_RollController(const AP_RollController &other) = delete;
AP_RollController &operator=(const AP_RollController&) = delete;
int32_t get_rate_out(float desired_rate, float scaler); int32_t get_rate_out(float desired_rate, float scaler);
int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator); int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator);
@ -40,9 +43,17 @@ public:
AP_Float &kI(void) { return gains.I; } AP_Float &kI(void) { return gains.I; }
AP_Float &kD(void) { return gains.D; } AP_Float &kD(void) { return gains.D; }
AP_Float &kFF(void) { return gains.FF; } AP_Float &kFF(void) { return gains.FF; }
private: private:
const AP_Vehicle::FixedWing &aparm; AP_RollController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash)
: aparm(parms)
, autotune(gains, AP_AutoTune::AUTOTUNE_ROLL, parms, _dataflash)
, _ahrs(ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
}
const AP_Vehicle::FixedWing &aparm;
AP_AutoTune::ATGains gains; AP_AutoTune::ATGains gains;
AP_AutoTune autotune; AP_AutoTune autotune;
uint32_t _last_t; uint32_t _last_t;

22
libraries/APM_Control/AP_SteerController.h
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@ -7,11 +7,15 @@
class AP_SteerController { class AP_SteerController {
public: public:
AP_SteerController(AP_AHRS &ahrs) : static AP_SteerController create(AP_AHRS &ahrs) {
_ahrs(ahrs) return AP_SteerController{ahrs};
{ }
AP_Param::setup_object_defaults(this, var_info);
} constexpr AP_SteerController(AP_SteerController &&other) = default;
/* Do not allow copies */
AP_SteerController(const AP_SteerController &other) = delete;
AP_SteerController &operator=(const AP_SteerController&) = delete;
/* /*
return a steering servo output from -4500 to 4500 given a return a steering servo output from -4500 to 4500 given a
@ -49,7 +53,13 @@ public:
} }
private: private:
AP_Float _tau; AP_SteerController(AP_AHRS &ahrs)
: _ahrs(ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
}
AP_Float _tau;
AP_Float _K_FF; AP_Float _K_FF;
AP_Float _K_P; AP_Float _K_P;
AP_Float _K_I; AP_Float _K_I;

32
libraries/APM_Control/AP_YawController.h
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@ -7,16 +7,16 @@
#include <cmath> #include <cmath>
class AP_YawController { class AP_YawController {
public: public:
AP_YawController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms) : static AP_YawController create(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms) {
aparm(parms), return AP_YawController{ahrs, parms};
_ahrs(ahrs) }
{
AP_Param::setup_object_defaults(this, var_info); constexpr AP_YawController(AP_YawController &&other) = default;
_pid_info.desired = 0;
_pid_info.FF = 0; /* Do not allow copies */
_pid_info.P = 0; AP_YawController(const AP_YawController &other) = delete;
} AP_YawController &operator=(const AP_YawController&) = delete;
int32_t get_servo_out(float scaler, bool disable_integrator); int32_t get_servo_out(float scaler, bool disable_integrator);
@ -27,7 +27,17 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
private: private:
const AP_Vehicle::FixedWing &aparm; AP_YawController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms)
: aparm(parms)
, _ahrs(ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
_pid_info.desired = 0;
_pid_info.FF = 0;
_pid_info.P = 0;
}
const AP_Vehicle::FixedWing &aparm;
AP_Float _K_A; AP_Float _K_A;
AP_Float _K_I; AP_Float _K_I;
AP_Float _K_D; AP_Float _K_D;