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convert APM_PI library to AP_Param

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This commit is contained in:
Andrew Tridgell 2012-02-12 22:26:12 +11:00
parent 74e0d2ef2a
commit 170fdef857
2 changed files with 23 additions and 42 deletions
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15
libraries/APM_PI/APM_PI.cpp
View File

@ -7,6 +7,13 @@
#include "APM_PI.h"
const AP_Param::GroupInfo APM_PI::var_info[] PROGMEM = {
AP_GROUPINFO("P", APM_PI, _kp),
AP_GROUPINFO("I", APM_PI, _ki),
AP_GROUPINFO("IMAX", APM_PI, _imax),
AP_GROUPEND
};
int32_t APM_PI::get_p(int32_t error)
{
return (float)error * _kp;
@ -40,11 +47,15 @@ APM_PI::reset_I()
void
APM_PI::load_gains()
{
_group.load();
_kp.load();
_ki.load();
_imax.load();
}
void
APM_PI::save_gains()
{
_group.save();
_kp.save();
_ki.save();
_imax.save();
}

50
libraries/APM_PI/APM_PI.h
View File

@ -19,51 +19,20 @@ public:
/// @note PI must be named to avoid either multiple parameters with the
/// same name, or an overly complex constructor.
///
/// @param key Storage key assigned to this PI. Should be unique.
/// @param name Name by which the PI is known, or NULL for an anonymous PI.
/// The name is prefixed to the P, I, IMAX variable names when
/// they are reported.
/// @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(AP_Var::Key key,
const prog_char_t *name,
const float &initial_p = 0.0,
const float &initial_i = 0.0,
const int16_t &initial_imax = 0.0) :
_group(key, name),
// group, index, initial value, name
_kp (&_group, 0, initial_p, PSTR("P")),
_ki (&_group, 1, initial_i, PSTR("I")),
_imax(&_group, 3, initial_imax, PSTR("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)
{
// no need for explicit load, assuming that the main code uses AP_Var::load_all.
}
/// Constructor for PI that does not save its settings.
///
/// @param name Name by which the PI is known, or NULL for an anonymous PI.
/// The name is prefixed to the P, I, IMAX variable names when
/// they are reported.
/// @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 prog_char_t *name,
const float &initial_p = 0.0,
const float &initial_i = 0.0,
const int16_t &initial_imax = 0.0) :
_group(AP_Var::k_key_none, name),
// group, index, initial value, name
_kp (&_group, 0, initial_p, PSTR("P")),
_ki (&_group, 1, initial_i, PSTR("I")),
_imax(&_group, 3, initial_imax, PSTR("IMAX"))
{
}
/// Iterate the PI, return the new control value
///
/// Positive error produces positive output.
@ -115,10 +84,11 @@ public:
float get_integrator() const { return _integrator; }
void set_integrator(float i) { _integrator = i; }
static const struct AP_Param::GroupInfo var_info[];
private:
AP_Var_group _group;
AP_Float16 _kp;
AP_Float16 _ki;
AP_Float _kp;
AP_Float _ki;
AP_Int16 _imax;
float _integrator; ///< integrator value