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uncrustify libraries/AP_PID/AP_PID.h

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uncrustify 2012-08-16 23:20:59 -07:00 committed by Pat Hickey
parent 25eba0c383
commit 2b32044d6f
1 changed files with 46 additions and 28 deletions
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74
libraries/AP_PID/AP_PID.h
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@ -7,49 +7,67 @@
#define AP_PID_h
#include <AP_Common.h>
#include <math.h> // for fabs()
#include <math.h> // for fabs()
/// @class AP_PID
/// @brief Object managing one PID control
class AP_PID {
public:
AP_PID();
AP_PID();
long get_pid(int32_t error, uint16_t dt, float scaler = 1.0);
long get_pid(int32_t error, uint16_t dt, float scaler = 1.0);
/// Reset the PID integrator
///
void reset_I();
/// Reset the PID integrator
///
void reset_I();
void kP(const float v) { _kp = v; }
void kI(const float v) { _ki = v; }
void kD(const float v) { _kd = v; }
void imax(const int16_t v) { _imax = v; }
void kP(const float v) {
_kp = v;
}
void kI(const float v) {
_ki = v;
}
void kD(const float v) {
_kd = v;
}
void imax(const int16_t v) {
_imax = v;
}
float kP() { return _kp; }
float kI() { return _ki; }
float kD() { return _kd; }
float imax() { return _imax; }
float kP() {
return _kp;
}
float kI() {
return _ki;
}
float kD() {
return _kd;
}
float imax() {
return _imax;
}
float get_integrator() const { return _integrator; }
float get_integrator() const {
return _integrator;
}
private:
float _kp;
float _ki;
float _kd;
float _imax;
float _kp;
float _ki;
float _kd;
float _imax;
float _integrator; ///< integrator value
int32_t _last_error; ///< last error for derivative
float _last_derivative; ///< last derivative for low-pass filter
float _integrator; ///< integrator value
int32_t _last_error; ///< last error for derivative
float _last_derivative; ///< last derivative for low-pass filter
/// Low pass filter cut frequency for derivative calculation.
///
/// 20 Hz becasue anything over that is probably noise, see
/// http://en.wikipedia.org/wiki/Low-pass_filter.
///
static const uint8_t _fCut = 20;
/// Low pass filter cut frequency for derivative calculation.
///
/// 20 Hz becasue anything over that is probably noise, see
/// http://en.wikipedia.org/wiki/Low-pass_filter.
///
static const uint8_t _fCut = 20;
};
#endif