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AC_AttitudeControl: tidy AC_PID construction

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Peter Barker 2023-08-29 15:17:09 +10:00 committed by Peter Barker
parent f8f28ee767
commit 70109f968c
2 changed files with 45 additions and 7 deletions
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6
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
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@ -1,6 +1,7 @@
#include "AC_AttitudeControl_Multi.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <AC_PID/AC_PID.h>
// table of user settable parameters
const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
@ -244,10 +245,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
AC_AttitudeControl_Multi::AC_AttitudeControl_Multi(AP_AHRS_View &ahrs, const AP_MultiCopter &aparm, AP_MotorsMulticopter& motors) :
AC_AttitudeControl(ahrs, aparm, motors),
_motors_multi(motors),
_pid_rate_roll(AC_ATC_MULTI_RATE_RP_P, AC_ATC_MULTI_RATE_RP_I, AC_ATC_MULTI_RATE_RP_D, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX, AC_ATC_MULTI_RATE_RP_FILT_HZ, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ),
_pid_rate_pitch(AC_ATC_MULTI_RATE_RP_P, AC_ATC_MULTI_RATE_RP_I, AC_ATC_MULTI_RATE_RP_D, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX, AC_ATC_MULTI_RATE_RP_FILT_HZ, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ),
_pid_rate_yaw(AC_ATC_MULTI_RATE_YAW_P, AC_ATC_MULTI_RATE_YAW_I, AC_ATC_MULTI_RATE_YAW_D, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX, AC_ATC_MULTI_RATE_RP_FILT_HZ, AC_ATC_MULTI_RATE_YAW_FILT_HZ, 0.0f)
_motors_multi(motors)
{
AP_Param::setup_object_defaults(this, var_info);
}

46
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
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@ -93,9 +93,49 @@ protected:
float get_throttle_avg_max(float throttle_in);
AP_MotorsMulticopter& _motors_multi;
AC_PID _pid_rate_roll;
AC_PID _pid_rate_pitch;
AC_PID _pid_rate_yaw;
AC_PID _pid_rate_roll {
AC_PID::Defaults{
.p = AC_ATC_MULTI_RATE_RP_P,
.i = AC_ATC_MULTI_RATE_RP_I,
.d = AC_ATC_MULTI_RATE_RP_D,
.ff = 0.0f,
.imax = AC_ATC_MULTI_RATE_RP_IMAX,
.filt_T_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
.filt_E_hz = 0.0f,
.filt_D_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
.srmax = 0,
.srtau = 1.0
}
};
AC_PID _pid_rate_pitch{
AC_PID::Defaults{
.p = AC_ATC_MULTI_RATE_RP_P,
.i = AC_ATC_MULTI_RATE_RP_I,
.d = AC_ATC_MULTI_RATE_RP_D,
.ff = 0.0f,
.imax = AC_ATC_MULTI_RATE_RP_IMAX,
.filt_T_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
.filt_E_hz = 0.0f,
.filt_D_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
.srmax = 0,
.srtau = 1.0
}
};
AC_PID _pid_rate_yaw{
AC_PID::Defaults{
.p = AC_ATC_MULTI_RATE_YAW_P,
.i = AC_ATC_MULTI_RATE_YAW_I,
.d = AC_ATC_MULTI_RATE_YAW_D,
.ff = 0.0f,
.imax = AC_ATC_MULTI_RATE_YAW_IMAX,
.filt_T_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
.filt_E_hz = AC_ATC_MULTI_RATE_YAW_FILT_HZ,
.filt_D_hz = 0.0f,
.srmax = 0,
.srtau = 1.0
}
};
AP_Float _thr_mix_man; // throttle vs attitude control prioritisation used when using manual throttle (higher values mean we prioritise attitude control over throttle)
AP_Float _thr_mix_min; // throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)