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AC_PID: add slew_rate modifier

This commit is contained in:
Andy Piper 2021-11-05 20:52:42 +00:00 committed by Randy Mackay
parent e3d7dd0776
commit 273ed18d34
2 changed files with 7 additions and 0 deletions
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6
libraries/AC_PID/AC_PID.cpp
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@ -121,6 +121,12 @@ void AC_PID::filt_D_hz(float hz)
_filt_D_hz.set(fabsf(hz)); _filt_D_hz.set(fabsf(hz));
} }
// slew_limit - set slew limit
void AC_PID::slew_limit(float smax)
{
_slew_rate_max.set(fabsf(smax));
}
// update_all - set target and measured inputs to PID controller and calculate outputs // update_all - set target and measured inputs to PID controller and calculate outputs
// target and error are filtered // target and error are filtered
// the derivative is then calculated and filtered // the derivative is then calculated and filtered

1
libraries/AC_PID/AC_PID.h
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@ -101,6 +101,7 @@ public:
void filt_T_hz(const float v); void filt_T_hz(const float v);
void filt_E_hz(const float v); void filt_E_hz(const float v);
void filt_D_hz(const float v); void filt_D_hz(const float v);
void slew_limit(const float v);
// set the desired and actual rates (for logging purposes) // set the desired and actual rates (for logging purposes)
void set_target_rate(float target) { _pid_info.target = target; } void set_target_rate(float target) { _pid_info.target = target; }