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AC_PID: use new defualt pattern

This commit is contained in:
Iampete1 2023-01-03 17:22:36 +00:00 committed by Andrew Tridgell
parent 46e560f3f6
commit 18d0dbcd8a
14 changed files with 89 additions and 63 deletions
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2
libraries/AC_PID/AC_P.cpp
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@ -8,7 +8,7 @@ const AP_Param::GroupInfo AC_P::var_info[] = {
// @Param: P
// @DisplayName: PI Proportional Gain
// @Description: P Gain which produces an output value that is proportional to the current error value
AP_GROUPINFO("P", 0, AC_P, _kp, 0),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("P", 0, AC_P, _kp, default_kp),
AP_GROUPEND
};

6
libraries/AC_PID/AC_P.h
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@ -20,10 +20,10 @@ public:
///
/// @param initial_p Initial value for the P term.
///
AC_P(const float &initial_p = 0.0f)
AC_P(const float &initial_p = 0.0f) :
default_kp(initial_p)
{
AP_Param::setup_object_defaults(this, var_info);
_kp.set_and_default(initial_p);
}
CLASS_NO_COPY(AC_P);
@ -65,4 +65,6 @@ public:
private:
AP_Float _kp;
const float default_kp;
};

9
libraries/AC_PID/AC_PI.cpp
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@ -25,14 +25,13 @@ const AP_Param::GroupInfo AC_PI::var_info[] = {
};
// Constructor
AC_PI::AC_PI(float initial_p, float initial_i, float initial_imax)
AC_PI::AC_PI(float initial_p, float initial_i, float initial_imax) :
default_kp(initial_p),
default_ki(initial_i),
default_imax(initial_imax)
{
// load parameter values from eeprom
AP_Param::setup_object_defaults(this, var_info);
kP.set_and_default(initial_p);
kI.set_and_default(initial_i);
imax.set_and_default(initial_imax);
}
float AC_PI::update(float measurement, float target, float dt)

6
libraries/AC_PID/AC_PI.h
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@ -33,4 +33,10 @@ protected:
AP_Float imax;
float integrator;
float output_P;
private:
const float default_kp;
const float default_ki;
const float default_imax;
};

33
libraries/AC_PID/AC_PID_2D.cpp
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@ -4,65 +4,62 @@
#include <AP_Math/AP_Math.h>
#include "AC_PID_2D.h"
#define AC_PID_2D_FILT_E_HZ_DEFAULT 20.0f // default input filter frequency
#define AC_PID_2D_FILT_D_HZ_DEFAULT 10.0f // default input filter frequency
#define AC_PID_2D_FILT_D_HZ_MIN 0.005f // minimum input filter frequency
const AP_Param::GroupInfo AC_PID_2D::var_info[] = {
// @Param: P
// @DisplayName: PID Proportional Gain
// @Description: P Gain which produces an output value that is proportional to the current error value
AP_GROUPINFO("P", 0, AC_PID_2D, _kp, 0),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("P", 0, AC_PID_2D, _kp, default_kp),
// @Param: I
// @DisplayName: PID Integral Gain
// @Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error
AP_GROUPINFO("I", 1, AC_PID_2D, _ki, 0),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("I", 1, AC_PID_2D, _ki, default_ki),
// @Param: IMAX
// @DisplayName: PID Integral Maximum
// @Description: The maximum/minimum value that the I term can output
AP_GROUPINFO("IMAX", 2, AC_PID_2D, _kimax, 0),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("IMAX", 2, AC_PID_2D, _kimax, default_kimax),
// @Param: FLTE
// @DisplayName: PID Input filter frequency in Hz
// @Description: Input filter frequency in Hz
// @Units: Hz
AP_GROUPINFO("FLTE", 3, AC_PID_2D, _filt_E_hz, AC_PID_2D_FILT_E_HZ_DEFAULT),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("FLTE", 3, AC_PID_2D, _filt_E_hz, default_filt_E_hz),
// @Param: D
// @DisplayName: PID Derivative Gain
// @Description: D Gain which produces an output that is proportional to the rate of change of the error
AP_GROUPINFO("D", 4, AC_PID_2D, _kd, 0),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("D", 4, AC_PID_2D, _kd, default_kd),
// @Param: FLTD
// @DisplayName: D term filter frequency in Hz
// @Description: D term filter frequency in Hz
// @Units: Hz
AP_GROUPINFO("FLTD", 5, AC_PID_2D, _filt_D_hz, AC_PID_2D_FILT_D_HZ_DEFAULT),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("FLTD", 5, AC_PID_2D, _filt_D_hz, default_filt_D_hz),
// @Param: FF
// @DisplayName: PID Feed Forward Gain
// @Description: FF Gain which produces an output that is proportional to the magnitude of the target
AP_GROUPINFO("FF", 6, AC_PID_2D, _kff, 0),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("FF", 6, AC_PID_2D, _kff, default_kff),
AP_GROUPEND
};
// Constructor
AC_PID_2D::AC_PID_2D(float initial_kP, float initial_kI, float initial_kD, float initial_kFF, float initial_imax, float initial_filt_E_hz, float initial_filt_D_hz)
AC_PID_2D::AC_PID_2D(float initial_kP, float initial_kI, float initial_kD, float initial_kFF, float initial_imax, float initial_filt_E_hz, float initial_filt_D_hz) :
default_kp(initial_kP),
default_ki(initial_kI),
default_kd(initial_kD),
default_kff(initial_kFF),
default_kimax(initial_imax),
default_filt_E_hz(initial_filt_E_hz),
default_filt_D_hz(initial_filt_D_hz)
{
// load parameter values from eeprom
AP_Param::setup_object_defaults(this, var_info);
_kp.set_and_default(initial_kP);
_ki.set_and_default(initial_kI);
_kd.set_and_default(initial_kD);
_kff.set_and_default(initial_kFF);
_kimax.set_and_default(initial_imax);
_filt_E_hz.set_and_default(initial_filt_E_hz);
_filt_D_hz.set_and_default(initial_filt_D_hz);
// reset input filter to first value received
_reset_filter = true;
}

9
libraries/AC_PID/AC_PID_2D.h
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@ -98,4 +98,13 @@ protected:
AP_PIDInfo _pid_info_x;
AP_PIDInfo _pid_info_y;
private:
const float default_kp;
const float default_ki;
const float default_kd;
const float default_kff;
const float default_kimax;
const float default_filt_E_hz;
const float default_filt_D_hz;
};

33
libraries/AC_PID/AC_PID_Basic.cpp
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@ -5,66 +5,63 @@
#include <AP_InternalError/AP_InternalError.h>
#include "AC_PID_Basic.h"
#define AC_PID_Basic_FILT_E_HZ_DEFAULT 20.0f // default input filter frequency
#define AC_PID_Basic_FILT_E_HZ_MIN 0.01f // minimum input filter frequency
#define AC_PID_Basic_FILT_D_HZ_DEFAULT 10.0f // default input filter frequency
#define AC_PID_Basic_FILT_D_HZ_MIN 0.005f // minimum input filter frequency
const AP_Param::GroupInfo AC_PID_Basic::var_info[] = {
// @Param: P
// @DisplayName: PID Proportional Gain
// @Description: P Gain which produces an output value that is proportional to the current error value
AP_GROUPINFO("P", 0, AC_PID_Basic, _kp, 0),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("P", 0, AC_PID_Basic, _kp, default_kp),
// @Param: I
// @DisplayName: PID Integral Gain
// @Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error
AP_GROUPINFO("I", 1, AC_PID_Basic, _ki, 0),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("I", 1, AC_PID_Basic, _ki, default_ki),
// @Param: IMAX
// @DisplayName: PID Integral Maximum
// @Description: The maximum/minimum value that the I term can output
AP_GROUPINFO("IMAX", 2, AC_PID_Basic, _kimax, 0),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("IMAX", 2, AC_PID_Basic, _kimax, default_kimax),
// @Param: FLTE
// @DisplayName: PID Error filter frequency in Hz
// @Description: Error filter frequency in Hz
// @Units: Hz
AP_GROUPINFO("FLTE", 3, AC_PID_Basic, _filt_E_hz, AC_PID_Basic_FILT_E_HZ_DEFAULT),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("FLTE", 3, AC_PID_Basic, _filt_E_hz, default_filt_E_hz),
// @Param: D
// @DisplayName: PID Derivative Gain
// @Description: D Gain which produces an output that is proportional to the rate of change of the error
AP_GROUPINFO("D", 4, AC_PID_Basic, _kd, 0),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("D", 4, AC_PID_Basic, _kd, default_kd),
// @Param: FLTD
// @DisplayName: D term filter frequency in Hz
// @Description: D term filter frequency in Hz
// @Units: Hz
AP_GROUPINFO("FLTD", 5, AC_PID_Basic, _filt_D_hz, AC_PID_Basic_FILT_D_HZ_DEFAULT),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("FLTD", 5, AC_PID_Basic, _filt_D_hz, default_filt_D_hz),
// @Param: FF
// @DisplayName: PID Feed Forward Gain
// @Description: FF Gain which produces an output that is proportional to the magnitude of the target
AP_GROUPINFO("FF", 6, AC_PID_Basic, _kff, 0),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("FF", 6, AC_PID_Basic, _kff, default_kff),
AP_GROUPEND
};
// Constructor
AC_PID_Basic::AC_PID_Basic(float initial_p, float initial_i, float initial_d, float initial_ff, float initial_imax, float initial_filt_E_hz, float initial_filt_D_hz)
AC_PID_Basic::AC_PID_Basic(float initial_p, float initial_i, float initial_d, float initial_ff, float initial_imax, float initial_filt_E_hz, float initial_filt_D_hz) :
default_kp(initial_p),
default_ki(initial_i),
default_kd(initial_d),
default_kff(initial_ff),
default_kimax(initial_imax),
default_filt_E_hz(initial_filt_E_hz),
default_filt_D_hz(initial_filt_D_hz)
{
// load parameter values from eeprom
AP_Param::setup_object_defaults(this, var_info);
_kp.set_and_default(initial_p);
_ki.set_and_default(initial_i);
_kd.set_and_default(initial_d);
_kff.set_and_default(initial_ff);
_kimax.set_and_default(initial_imax);
_filt_E_hz.set_and_default(initial_filt_E_hz);
_filt_D_hz.set_and_default(initial_filt_D_hz);
// reset input filter to first value received
_reset_filter = true;
}

9
libraries/AC_PID/AC_PID_Basic.h
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@ -91,4 +91,13 @@ protected:
bool _reset_filter; // true when input filter should be reset during next call to set_input
AP_PIDInfo _pid_info;
private:
const float default_kp;
const float default_ki;
const float default_kd;
const float default_kff;
const float default_kimax;
const float default_filt_E_hz;
const float default_filt_D_hz;
};

18
libraries/AC_PID/AC_PI_2D.cpp
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@ -8,38 +8,38 @@ const AP_Param::GroupInfo AC_PI_2D::var_info[] = {
// @Param: P
// @DisplayName: PI Proportional Gain
// @Description: P Gain which produces an output value that is proportional to the current error value
AP_GROUPINFO("P", 0, AC_PI_2D, _kp, 0),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("P", 0, AC_PI_2D, _kp, default_kp),
// @Param: I
// @DisplayName: PI Integral Gain
// @Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error
AP_GROUPINFO("I", 1, AC_PI_2D, _ki, 0),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("I", 1, AC_PI_2D, _ki, default_ki),
// @Param: IMAX
// @DisplayName: PI Integral Maximum
// @Description: The maximum/minimum value that the I term can output
AP_GROUPINFO("IMAX", 2, AC_PI_2D, _imax, 0),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("IMAX", 2, AC_PI_2D, _imax, default_imax),
// @Param: FILT_HZ
// @DisplayName: PI Input filter frequency in Hz
// @Description: Input filter frequency in Hz
// @Units: Hz
AP_GROUPINFO("FILT_HZ", 3, AC_PI_2D, _filt_hz, AC_PI_2D_FILT_HZ_DEFAULT),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("FILT_HZ", 3, AC_PI_2D, _filt_hz, default_filt_hz),
AP_GROUPEND
};
// Constructor
AC_PI_2D::AC_PI_2D(float initial_p, float initial_i, float initial_imax, float initial_filt_hz, float dt) :
_dt(dt)
_dt(dt),
default_kp(initial_p),
default_ki(initial_i),
default_imax(initial_imax),
default_filt_hz(initial_filt_hz)
{
// load parameter values from eeprom
AP_Param::setup_object_defaults(this, var_info);
_kp.set_and_default(initial_p);
_ki.set_and_default(initial_i);
_imax.set_and_default(initial_imax);
_filt_hz.set_and_default(initial_filt_hz);
filt_hz(initial_filt_hz);
// reset input filter to first value received

7
libraries/AC_PID/AC_PI_2D.h
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@ -8,7 +8,6 @@
#include <stdlib.h>
#include <cmath>
#define AC_PI_2D_FILT_HZ_DEFAULT 20.0f // default input filter frequency
#define AC_PI_2D_FILT_HZ_MIN 0.01f // minimum input filter frequency
/// @class AC_PI_2D
@ -92,4 +91,10 @@ private:
Vector2f _integrator; // integrator value
Vector2f _input; // last input for derivative
float _filt_alpha; // input filter alpha
const float default_kp;
const float default_ki;
const float default_imax;
const float default_filt_hz;
};

7
libraries/AC_PID/AC_P_1D.cpp
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@ -8,17 +8,16 @@ const AP_Param::GroupInfo AC_P_1D::var_info[] = {
// @Param: P
// @DisplayName: P Proportional Gain
// @Description: P Gain which produces an output value that is proportional to the current error value
AP_GROUPINFO("P", 0, AC_P_1D, _kp, 0),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("P", 0, AC_P_1D, _kp, default_kp),
AP_GROUPEND
};
// Constructor
AC_P_1D::AC_P_1D(float initial_p)
AC_P_1D::AC_P_1D(float initial_p) :
default_kp(initial_p)
{
// load parameter values from eeprom
AP_Param::setup_object_defaults(this, var_info);
_kp.set_and_default(initial_p);
}
// update_all - set target and measured inputs to P controller and calculate outputs

2
libraries/AC_PID/AC_P_1D.h
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@ -57,4 +57,6 @@ private:
float _error_min; // error limit in negative direction
float _error_max; // error limit in positive direction
float _D1_max; // maximum first derivative of output
const float default_kp;
};

7
libraries/AC_PID/AC_P_2D.cpp
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@ -8,17 +8,16 @@ const AP_Param::GroupInfo AC_P_2D::var_info[] = {
// @Param: P
// @DisplayName: Proportional Gain
// @Description: P Gain which produces an output value that is proportional to the current error value
AP_GROUPINFO("P", 0, AC_P_2D, _kp, 0),
AP_GROUPINFO_FLAGS_DEFAULT_POINTER("P", 0, AC_P_2D, _kp, default_kp),
AP_GROUPEND
};
// Constructor
AC_P_2D::AC_P_2D(float initial_p)
AC_P_2D::AC_P_2D(float initial_p) :
default_kp(initial_p)
{
// load parameter values from eeprom
AP_Param::setup_object_defaults(this, var_info);
_kp.set_and_default(initial_p);
}
// update_all - set target and measured inputs to P controller and calculate outputs

2
libraries/AC_PID/AC_P_2D.h
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@ -58,4 +58,6 @@ private:
Vector2f _error; // time step in seconds
float _error_max; // error limit in positive direction
float _D1_max; // maximum first derivative of output
const float default_kp;
};