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AC_PID: tidy interface

This commit is contained in:
Iampete1 2023-12-10 20:03:38 +00:00 committed by Randy Mackay
parent a841e9c109
commit 5065770e30
2 changed files with 17 additions and 16 deletions
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2
libraries/AC_PID/AC_PID.cpp
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@ -336,7 +336,7 @@ float AC_PID::get_d() const
return _kd * _derivative;
}
float AC_PID::get_ff()
float AC_PID::get_ff() const
{
return _pid_info.FF + _pid_info.DFF;
}

31
libraries/AC_PID/AC_PID.h
View File

@ -72,17 +72,11 @@ public:
// todo: remove function when it is no longer used.
float update_error(float error, float dt, bool limit = false);
// update_i - update the integral
// if the limit flag is set the integral is only allowed to shrink
void update_i(float dt, bool limit);
// get_pid - get results from pid controller
float get_pid() const;
float get_pi() const;
float get_p() const;
float get_i() const;
float get_d() const;
float get_ff();
float get_ff() const;
// reset_I - reset the integrator
void reset_I();
@ -113,9 +107,11 @@ public:
AP_Float &filt_E_hz() { return _filt_E_hz; }
AP_Float &filt_D_hz() { return _filt_D_hz; }
AP_Float &slew_limit() { return _slew_rate_max; }
AP_Float &kDff() { return _kdff; }
float imax() const { return _kimax.get(); }
float pdmax() const { return _kpdmax.get(); }
float get_filt_T_alpha(float dt) const;
float get_filt_E_alpha(float dt) const;
float get_filt_D_alpha(float dt) const;
@ -131,6 +127,7 @@ public:
void filt_E_hz(const float v);
void filt_D_hz(const float v);
void slew_limit(const float v);
void kDff(const float v) { _kdff.set(v); }
// set the desired and actual rates (for logging purposes)
void set_target_rate(float target) { _pid_info.target = target; }
@ -150,20 +147,17 @@ public:
const AP_PIDInfo& get_pid_info(void) const { return _pid_info; }
AP_Float &kDff() { return _kdff; }
void kDff(const float v) { _kdff.set(v); }
void set_notch_sample_rate(float);
// parameter var table
static const struct AP_Param::GroupInfo var_info[];
// the time constant tau is not currently configurable, but is set
// as an AP_Float to make it easy to make it configurable for a
// single user of AC_PID by adding the parameter in the param
// table of the parent class. It is made public for this reason
AP_Float _slew_rate_tau;
protected:
// update_i - update the integral
// if the limit flag is set the integral is only allowed to shrink
void update_i(float dt, bool limit);
// parameters
AP_Float _kp;
AP_Float _ki;
@ -180,6 +174,13 @@ protected:
AP_Int8 _notch_T_filter;
AP_Int8 _notch_E_filter;
#endif
// the time constant tau is not currently configurable, but is set
// as an AP_Float to make it easy to make it configurable for a
// single user of AC_PID by adding the parameter in the param
// table of the parent class. It is made public for this reason
AP_Float _slew_rate_tau;
SlewLimiter _slew_limiter{_slew_rate_max, _slew_rate_tau};
// flags