Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-29 20:18:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_PID: allow non-zero ff gain default

Browse Source
This commit is contained in:
Randy Mackay 2018-01-03 11:41:37 +09:00
parent 072b5187a3
commit 4e8155f4e5
3 changed files with 7 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/AC_PID/AC_HELI_PID.cpp
View File

@ -49,9 +49,8 @@ const AP_Param::GroupInfo AC_HELI_PID::var_info[] = {
/// Constructor for PID
AC_HELI_PID::AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float dt, float initial_ff) :
AC_PID(initial_p, initial_i, initial_d, initial_imax, initial_filt_hz, dt)
AC_PID(initial_p, initial_i, initial_d, initial_imax, initial_filt_hz, dt, initial_ff)
{
_ff = initial_ff;
_last_requested_rate = 0;
}

6
libraries/AC_PID/AC_PID.cpp
View File

@ -43,7 +43,7 @@ const AP_Param::GroupInfo AC_PID::var_info[] = {
};
// Constructor
AC_PID::AC_PID(float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float dt) :
AC_PID::AC_PID(float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float dt, float initial_ff) :
_dt(dt),
_integrator(0.0f),
_input(0.0f),
@ -57,6 +57,7 @@ AC_PID::AC_PID(float initial_p, float initial_i, float initial_d, float initial_
_kd = initial_d;
_imax = fabsf(initial_imax);
filt_hz(initial_filt_hz);
_ff = initial_ff;
// reset input filter to first value received
_flags._reset_filter = true;
@ -201,7 +202,7 @@ void AC_PID::save_gains()
}
/// Overload the function call operator to permit easy initialisation
void AC_PID::operator() (float p, float i, float d, float imaxval, float input_filt_hz, float dt)
void AC_PID::operator() (float p, float i, float d, float imaxval, float input_filt_hz, float dt, float ffval)
{
_kp = p;
_ki = i;
@ -209,6 +210,7 @@ void AC_PID::operator() (float p, float i, float d, float imaxval, float input_f
_imax = fabsf(imaxval);
_filt_hz = input_filt_hz;
_dt = dt;
_ff = ffval;
}
// calc_filt_alpha - recalculate the input filter alpha

4
libraries/AC_PID/AC_PID.h
View File

@ -18,7 +18,7 @@ class AC_PID {
public:
// Constructor for PID
AC_PID(float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float dt);
AC_PID(float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float dt, float initial_ff = 0);
// set_dt - set time step in seconds
void set_dt(float dt);
@ -54,7 +54,7 @@ public:
void save_gains();
/// operator function call for easy initialisation
void operator() (float p, float i, float d, float imaxval, float input_filt_hz, float dt );
void operator() (float p, float i, float d, float imaxval, float input_filt_hz, float dt, float ffval = 0);
// get accessors
AP_Float &kP() { return _kp; }