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AC_PID: allow non-zero ff gain default

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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
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3
libraries/AC_PID/AC_HELI_PID.cpp
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@ -49,9 +49,8 @@ const AP_Param::GroupInfo AC_HELI_PID::var_info[] = {
/// Constructor for PID /// 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_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; _last_requested_rate = 0;
} }

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

4
libraries/AC_PID/AC_PID.h
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@ -18,7 +18,7 @@ class AC_PID {
public: public:
// Constructor for PID // 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 // set_dt - set time step in seconds
void set_dt(float dt); void set_dt(float dt);
@ -54,7 +54,7 @@ public:
void save_gains(); void save_gains();
/// operator function call for easy initialisation /// 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 // get accessors
AP_Float &kP() { return _kp; } AP_Float &kP() { return _kp; }