mirror of https://github.com/ArduPilot/ardupilot
cleanup: removed unused AP_PID library
This commit is contained in:
Andrew Tridgell
parent
6b8c39dd10
commit
5b4321d367
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@ -1,65 +0,0 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file AP_PID.cpp
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/// @brief Generic PID algorithm
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#include <math.h>
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#include "AP_PID.h"
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AP_PID::AP_PID()
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{
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}
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long
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AP_PID::get_pid(int32_t error, uint16_t dt, float scaler)
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{
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float output = 0;
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float delta_time = (float)dt / 1000.0;
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// Compute proportional component
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output += error * _kp;
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// Compute derivative component if time has elapsed
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if ((fabs(_kd) > 0) && (dt > 0)) {
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float derivative = (error - _last_error) / delta_time;
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// discrete low pass filter, cuts out the
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// high frequency noise that can drive the controller crazy
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float RC = 1/(2*M_PI*_fCut);
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derivative = _last_derivative +
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(delta_time / (RC + delta_time)) * (derivative - _last_derivative);
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// update state
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_last_error = error;
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_last_derivative = derivative;
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// add in derivative component
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output += _kd * derivative;
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}
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// scale the P and D components
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output *= scaler;
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// Compute integral component if time has elapsed
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if ((fabs(_ki) > 0) && (dt > 0)) {
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_integrator += (error * _ki) * scaler * delta_time;
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if (_integrator < -_imax) {
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_integrator = -_imax;
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} else if (_integrator > _imax) {
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_integrator = _imax;
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}
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output += _integrator;
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}
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return output;
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}
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void
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AP_PID::reset_I()
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{
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_integrator = 0;
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_last_error = 0;
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_last_derivative = 0;
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}
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@ -1,73 +0,0 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file AP_PID.h
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/// @brief Generic PID algorithm, with EEPROM-backed storage of constants.
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#ifndef AP_PID_h
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#define AP_PID_h
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#include <AP_Common.h>
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#include <math.h> // for fabs()
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/// @class AP_PID
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/// @brief Object managing one PID control
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class AP_PID {
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public:
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AP_PID();
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long get_pid(int32_t error, uint16_t dt, float scaler = 1.0);
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/// Reset the PID integrator
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///
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void reset_I();
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void kP(const float v) {
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_kp = v;
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}
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void kI(const float v) {
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_ki = v;
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}
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void kD(const float v) {
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_kd = v;
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}
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void imax(const int16_t v) {
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_imax = v;
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}
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float kP() {
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return _kp;
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}
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float kI() {
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return _ki;
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}
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float kD() {
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return _kd;
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}
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float imax() {
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return _imax;
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}
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float get_integrator() const {
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return _integrator;
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}
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private:
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float _kp;
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float _ki;
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float _kd;
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float _imax;
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float _integrator; ///< integrator value
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int32_t _last_error; ///< last error for derivative
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float _last_derivative; ///< last derivative for low-pass filter
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/// Low pass filter cut frequency for derivative calculation.
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///
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/// 20 Hz becasue anything over that is probably noise, see
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/// http://en.wikipedia.org/wiki/Low-pass_filter.
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///
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static const uint8_t _fCut = 20;
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};
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#endif
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@ -1,52 +0,0 @@
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/*
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* Example of PID library.
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* 2010 Code by Jason Short. DIYDrones.com
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*/
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#include <Arduino_Mega_ISR_Registry.h>
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <AP_Math.h>
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#include <APM_RC.h> // ArduPilot RC Library
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#include <AP_PID.h> // ArduPilot Mega RC Library
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long radio_in;
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long radio_trim;
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Arduino_Mega_ISR_Registry isr_registry;
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AP_PID pid;
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APM_RC_APM1 APM_RC;
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void setup()
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{
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Serial.begin(115200);
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Serial.println("ArduPilot Mega AP_PID library test");
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isr_registry.init();
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APM_RC.Init(&isr_registry); // APM Radio initialization
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delay(1000);
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//rc.trim();
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radio_trim = APM_RC.InputCh(0);
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pid.kP(1);
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pid.kI(0);
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pid.kD(0.5);
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pid.imax(50);
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pid.kP(0);
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pid.kI(0);
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pid.kD(0);
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pid.imax(0);
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Serial.printf("P %f I %f D %f imax %f\n", pid.kP(), pid.kI(), pid.kD(), pid.imax());
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}
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void loop()
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{
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delay(20);
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//rc.read_pwm();
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long error = APM_RC.InputCh(0) - radio_trim;
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long control = pid.get_pid(error, 20, 1);
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Serial.print("control: ");
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Serial.println(control,DEC);
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}
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@ -1,2 +0,0 @@
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BOARD = mega
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include ../../../AP_Common/Arduino.mk
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@ -1,9 +0,0 @@
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PID KEYWORD1
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get_pid KEYWORD2
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reset_I KEYWORD2
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kP KEYWORD2
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kD KEYWORD2
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kI KEYWORD2
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imax KEYWORD2
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load_gains KEYWORD2
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save_gains KEYWORD2
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