Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 09:58:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

APM_PI: remove unused library

Browse Source
This commit is contained in:
Lucas De Marchi 2015-12-21 11:50:44 -02:00
parent 8cee02cde7
commit 5d3a519277
2 changed files with 0 additions and 176 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

61
libraries/APM_PI/APM_PI.cpp
View File

@ -1,61 +0,0 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @file ACM_PI.cpp
/// @brief Generic PI algorithm
#include <AP_Math/AP_Math.h>
#include "APM_PI.h"
const AP_Param::GroupInfo APM_PI::var_info[] = {
AP_GROUPINFO("P", 0, APM_PI, _kp, 0),
AP_GROUPINFO("I", 1, APM_PI, _ki, 0),
AP_GROUPINFO("IMAX", 2, APM_PI, _imax, 0),
AP_GROUPEND
};
int32_t APM_PI::get_p(int32_t error)
{
return (float)error * _kp;
}
int32_t APM_PI::get_i(int32_t error, float dt)
{
if(dt != 0) {
_integrator += ((float)error * _ki) * dt;
if (_integrator < -_imax) {
_integrator = -_imax;
} else if (_integrator > _imax) {
_integrator = _imax;
}
}
return _integrator;
}
int32_t APM_PI::get_pi(int32_t error, float dt)
{
return get_p(error) + get_i(error, dt);
}
void
APM_PI::reset_I()
{
_integrator = 0;
}
void
APM_PI::load_gains()
{
_kp.load();
_ki.load();
_imax.load();
}
void
APM_PI::save_gains()
{
_kp.save();
_ki.save();
_imax.save();
}

115
libraries/APM_PI/APM_PI.h
View File

@ -1,115 +0,0 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @file PI.h
/// @brief Generic PI algorithm, with EEPROM-backed storage of constants.
#ifndef __APM_PI_H__
#define __APM_PI_H__
#include <stdlib.h>
#include <AP_Param/AP_Param.h>
/// @class APM_PI
/// @brief Object managing one PI control
class APM_PI {
public:
/// Constructor for PI that saves its settings to EEPROM
///
/// @note PI must be named to avoid either multiple parameters with the
/// same name, or an overly complex constructor.
///
/// @param initial_p Initial value for the P term.
/// @param initial_i Initial value for the I term.
/// @param initial_imax Initial value for the imax term.4
///
APM_PI(const float & initial_p = 0.0f,
const float & initial_i = 0.0f,
const int16_t & initial_imax = 0.0f)
{
AP_Param::setup_object_defaults(this, var_info);
_kp = initial_p;
_ki = initial_i;
_imax = initial_imax;
}
/// Iterate the PI, return the new control value
///
/// Positive error produces positive output.
///
/// @param error The measured error value
/// @param dt The time delta in milliseconds (note
/// that update interval cannot be more
/// than 65.535 seconds due to limited range
/// of the data type).
/// @param scaler An arbitrary scale factor
///
/// @returns The updated control output.
///
//long get_pi(int32_t error, float dt);
int32_t get_pi(int32_t error, float dt);
int32_t get_p(int32_t error);
int32_t get_i(int32_t error, float dt);
/// Reset the PI integrator
///
void reset_I();
/// Load gain properties
///
void load_gains();
/// Save gain properties
///
void save_gains();
/// @name parameter accessors
//@{
// Overload the function call operator to permit relatively easy
//initialisation
void operator () (const float p,
const float i,
const int16_t imaxval) {
_kp = p; _ki = i; _imax = imaxval;
}
float kP() const {
return _kp.get();
}
float kI() const {
return _ki.get();
}
int16_t imax() const {
return _imax.get();
}
void kP(const float v) {
_kp.set(v);
}
void kI(const float v) {
_ki.set(v);
}
void imax(const int16_t v) {
_imax.set(abs(v));
}
float get_integrator() const {
return _integrator;
}
void set_integrator(float i) {
_integrator = i;
}
static const struct AP_Param::GroupInfo var_info[];
private:
AP_Float _kp;
AP_Float _ki;
AP_Int16 _imax;
// integrator value
float _integrator;
};
#endif