mirror of https://github.com/ArduPilot/ardupilot
Use AP_Var to store PID scaling values.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1652 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
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8e7301b4d3
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@ -1,19 +1,12 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file PID.cpp
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/// @file PID.cpp
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/// @brief Generic PID algorithm, with EEPROM-backed storage of constants.
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/// @brief Generic PID algorithm
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#include <math.h>
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#include <math.h>
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#include <avr/eeprom.h>
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#include "PID.h"
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#include "PID.h"
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// make the gain array members a little easier to identify
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#define _kp _gain_array[0]
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#define _ki _gain_array[1]
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#define _kd _gain_array[2]
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#define _imax _gain_array[3]
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long
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long
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PID::get_pid(int32_t error, uint16_t dt, float scaler)
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PID::get_pid(int32_t error, uint16_t dt, float scaler)
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{
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{
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@ -24,7 +17,7 @@ PID::get_pid(int32_t error, uint16_t dt, float scaler)
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output += error * _kp;
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output += error * _kp;
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// Compute derivative component if time has elapsed
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// Compute derivative component if time has elapsed
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if (_kd && (dt > 0)) {
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if ((fabs(_kd) > 0) && (dt > 0)) {
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float derivative = (error - _last_error) / delta_time;
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float derivative = (error - _last_error) / delta_time;
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// discrete low pass filter, cuts out the
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// discrete low pass filter, cuts out the
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@ -45,7 +38,7 @@ PID::get_pid(int32_t error, uint16_t dt, float scaler)
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output *= scaler;
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output *= scaler;
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// Compute integral component if time has elapsed
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// Compute integral component if time has elapsed
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if (_ki && (dt > 0)) {
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if ((fabs(_ki) > 0) && (dt > 0)) {
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_integrator += (error * _ki) * scaler * delta_time;
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_integrator += (error * _ki) * scaler * delta_time;
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if (_integrator < -_imax) {
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if (_integrator < -_imax) {
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_integrator = -_imax;
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_integrator = -_imax;
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@ -58,63 +51,22 @@ PID::get_pid(int32_t error, uint16_t dt, float scaler)
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return output;
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return output;
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}
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}
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void
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PID::reset_I()
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{
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_integrator = 0;
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_last_error = 0;
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_last_derivative = 0;
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}
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void
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void
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PID::load_gains()
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PID::load_gains()
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{
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{
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switch(_storage)
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_group.load();
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{
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case STORE_OFF:
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// load is a NOP if the gain array is managed externally
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break;
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case STORE_EEPROM_UINT16:
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_kp = (float)(eeprom_read_word((uint16_t *) _address)) / 1000.0;
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_ki = (float)(eeprom_read_word((uint16_t *) (_address + 2))) / 1000.0;
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_kd = (float)(eeprom_read_word((uint16_t *) (_address + 4))) / 1000.0;
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_imax = (float)(eeprom_read_word((uint16_t *) (_address + 6)));
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//_kp = (float)_ee.read_int(_address) / 1000.0;
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//_ki = (float)_ee.read_int(_address + 2) / 1000.0;
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//_kd = (float)_ee.read_int(_address + 4) / 1000.0;
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//_imax = (float)_ee.read_int(_address + 6) * 100;
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break;
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case STORE_EEPROM_FLOAT:
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eeprom_read_block((void*)&_kp,(const void*)(_address),sizeof(_kp));
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eeprom_read_block((void*)&_ki,(const void*)(_address+4),sizeof(_ki));
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eeprom_read_block((void*)&_kd,(const void*)(_address+8),sizeof(_kd));
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eeprom_read_block((void*)&_imax,(const void*)(_address+12),sizeof(_imax));
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break;
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}
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}
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}
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void
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void
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PID::save_gains()
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PID::save_gains()
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{
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{
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switch(_storage)
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_group.save();
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{
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case STORE_OFF:
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// save is a NOP if the gain array is managed externally
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break;
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case STORE_EEPROM_UINT16:
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eeprom_write_word((uint16_t *) _address, (int)(_kp * 1000.0));
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eeprom_write_word((uint16_t *) (_address + 2), (int)(_ki * 1000.0));
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eeprom_write_word((uint16_t *) (_address + 4), (int)(_kd * 1000.0));
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eeprom_write_word((uint16_t *) (_address + 6), (int)(_imax));
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/*_ee.write_int(_address, (int)(_kp * 1000));
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_ee.write_int(_address + 2, (int)(_ki * 1000));
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_ee.write_int(_address + 4, (int)(_kd * 1000));
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_ee.write_int(_address + 6, (int)(_imax /100));
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*/
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break;
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case STORE_EEPROM_FLOAT:
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eeprom_write_block((const void *)&_kp,(void *)(_address),sizeof(_kp));
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eeprom_write_block((const void *)&_ki,(void *)(_address+4),sizeof(_ki));
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eeprom_write_block((const void *)&_kd,(void *)(_address+8),sizeof(_kd));
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eeprom_write_block((const void *)&_imax,(void *)(_address+12),sizeof(_imax));
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break;
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}
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}
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}
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@ -6,61 +6,67 @@
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#ifndef PID_h
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#ifndef PID_h
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#define PID_h
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#define PID_h
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#include <stdint.h>
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#include <AP_Common.h>
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#include <math.h> // for fabs()
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/// @class PID
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/// @class PID
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/// @brief Object managing one PID control
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/// @brief Object managing one PID control
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class PID {
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class PID {
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public:
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public:
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///
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// EEProm Storage Type
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enum storage_t
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{
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STORE_OFF,
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STORE_EEPROM_FLOAT,
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STORE_EEPROM_UINT16
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} _storage;
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/// Constructor
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/// Constructor for PID that saves its settings to EEPROM
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///
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///
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/// A PID constructed in this fashion does not support save/restore.
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/// @note PIDs must be named to avoid either multiple parameters with the
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/// Gains are managed internally, and must be read/written using the
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/// same name, or an overly complex constructor.
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/// accessor functions.
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///
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///
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PID() :
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/// @param key Storage key assigned to this PID. Should be unique.
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_storage(STORE_OFF),
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/// @param name Name by which the PID is known, or NULL for an anonymous PID.
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_address(0),
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/// The name is prefixed to the P, I, D, IMAX variable names when
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_gain_array(&_local_gains[0])
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/// they are reported.
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{}
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/// @param initial_p Initial value for the P term.
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/// @param initial_i Initial value for the I term.
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/// @param initial_d Initial value for the D term.
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/// @param initial_imax Initial value for the imax term.4
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///
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PID(AP_Var::Key key,
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const prog_char *name,
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const float &initial_p = 0.0,
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const float &initial_i = 0.0,
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const float &initial_d = 0.0,
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const int16_t &initial_imax = 0.0) :
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/// Constructor
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_group(key, name),
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///
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// group, index, initial value, name
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/// The PID will manage gains internally, and the load/save functions
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_kp (&_group, 0, initial_p, PSTR("P")),
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/// will use 16 bytes of EEPROM storage to store gain values.
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_ki (&_group, 1, initial_i, PSTR("I")),
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///
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_kd (&_group, 2, initial_d, PSTR("D")),
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/// @param address EEPROM base address at which PID parameters
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_imax(&_group, 3, initial_imax, PSTR("IMAX"))
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/// are stored.
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///
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PID(uint16_t address, storage_t storage = STORE_EEPROM_UINT16) :
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_storage(storage),
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_address(address),
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_gain_array(&_local_gains[0])
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{
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{
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load_gains();
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// no need for explicit load, assuming that the main code uses AP_Var::load_all.
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}
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}
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/// Constructor
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/// Constructor for PID that does not save its settings.
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///
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///
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/// Gain values for the PID are managed externally; load/save are a NOP.
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/// @param name Name by which the PID is known, or NULL for an anonymous PID.
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///
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/// The name is prefixed to the P, I, D, IMAX variable names when
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/// @param gain_array Address of an array of float values. The
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/// they are reported.
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/// array is used as kP, kI, kD and imax
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/// @param initial_p Initial value for the P term.
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/// respectively.
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/// @param initial_i Initial value for the I term.
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/// @param initial_d Initial value for the D term.
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/// @param initial_imax Initial value for the imax term.4
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///
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///
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PID(const prog_char *name,
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const float &initial_p = 0.0,
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const float &initial_i = 0.0,
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const float &initial_d = 0.0,
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const int16_t &initial_imax = 0.0) :
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PID(float *gain_array) :
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_group(AP_Var::k_key_none, name),
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_storage(STORE_OFF),
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// group, index, initial value, name
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_gain_array(gain_array)
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_kp (&_group, 0, initial_p, PSTR("P")),
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_ki (&_group, 1, initial_i, PSTR("I")),
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_kd (&_group, 2, initial_d, PSTR("D")),
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_imax(&_group, 3, initial_imax, PSTR("IMAX"))
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{
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{
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}
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}
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/// Reset the PID integrator
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/// Reset the PID integrator
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///
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///
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void reset_I() {
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void reset_I();
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_integrator = 0;
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_last_error = 0;
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_last_derivative = 0;
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}
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/// Load gain properties
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/// Load gain properties
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///
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///
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/// @name parameter accessors
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/// @name parameter accessors
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//@{
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//@{
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float kP() { return _gain_array[0]; }
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float kI() { return _gain_array[1]; }
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float kD() { return _gain_array[2]; }
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float imax() { return _gain_array[3]; }
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void kP(const float v) { _gain_array[0] = v; }
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/// Overload the function call operator to permit relatively easy initialisation
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void kI(const float v) { _gain_array[1] = v; }
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void operator() (const float p,
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void kD(const float v) { _gain_array[2] = v; }
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const float i,
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void imax(const float v) { _gain_array[3] = fabs(v); }
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const float d,
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const int16_t imax) {
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_kp = p; _ki = i; _kd = d; _imax = imax;
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}
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void address(const uint16_t v) { _address = v; }
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float kP() const { return _kp.get(); }
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float kI() const { return _ki.get(); }
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float kD() const { return _kd.get(); }
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int16_t imax() const { return _imax.get(); }
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// one-shot operator for setting all of the gain properties at once
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void kP(const float v) { _kp = v; }
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//void operator ()(const float p, const float i, const float d, const float max)
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void kI(const float v) { _ki = v; }
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//{ kP(p); kI(i); kD(d); imax(max); }
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void kD(const float v) { _kd = v; }
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//@}
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void imax(const int16_t v) { _imax = abs(v); }
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float get_integrator() { return _integrator; }
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float get_integrator() const { return _integrator; }
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private:
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private:
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uint16_t _address; ///< EEPROM address for save/restore of P/I/D
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AP_Var_group _group;
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float *_gain_array; ///< pointer to the gains for this pid
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AP_Float16 _kp;
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AP_Float16 _ki;
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float _local_gains[4]; ///< local storage for gains when not globally managed
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AP_Float16 _kd;
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AP_Int16 _imax;
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float _integrator; ///< integrator value
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float _integrator; ///< integrator value
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int32_t _last_error; ///< last error for derivative
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int32_t _last_error; ///< last error for derivative
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@ -3,13 +3,15 @@
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2010 Code by Jason Short. DIYDrones.com
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2010 Code by Jason Short. DIYDrones.com
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*/
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*/
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#include <PID.h> // ArduPilot Mega RC Library
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <APM_RC.h> // ArduPilot RC Library
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#include <APM_RC.h> // ArduPilot RC Library
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#include <PID.h> // ArduPilot Mega RC Library
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long radio_in;
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long radio_in;
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long radio_trim;
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long radio_trim;
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PID pid(0x16);
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PID pid(10, "TEST1_");
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void setup()
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void setup()
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{
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{
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pid.kI(0);
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pid.kI(0);
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pid.kD(0.5);
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pid.kD(0.5);
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pid.imax(50);
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pid.imax(50);
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pid.save_gains();
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pid.kP(0);
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pid.kI(0);
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pid.kD(0);
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pid.imax(0);
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pid.load_gains();
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Serial.printf("P %f I %f D %f imax %f\n", pid.kP(), pid.kI(), pid.kD(), pid.imax());
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}
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}
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void loop()
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void loop()
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