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AC_PID: log SRate in pid info and expose slew rate

This commit is contained in:
Andrew Tridgell 2021-04-04 19:49:31 +10:00
parent 05d5fc2ecc
commit 95b375dc87
2 changed files with 7 additions and 0 deletions
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2
libraries/AC_PID/AC_PID.cpp
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@ -161,6 +161,7 @@ float AC_PID::update_all(float target, float measurement, bool limit)
// calculate slew limit modifier for P+D
_pid_info.Dmod = _slew_limiter.modifier((_pid_info.P + _pid_info.D) * _slew_limit_scale, _dt);
_pid_info.slew_rate = _slew_limiter.get_slew_rate();
P_out *= _pid_info.Dmod;
D_out *= _pid_info.Dmod;
@ -213,6 +214,7 @@ float AC_PID::update_error(float error, bool limit)
// calculate slew limit modifier for P+D
_pid_info.Dmod = _slew_limiter.modifier((_pid_info.P + _pid_info.D) * _slew_limit_scale, _dt);
_pid_info.slew_rate = _slew_limiter.get_slew_rate();
P_out *= _pid_info.Dmod;
D_out *= _pid_info.Dmod;

5
libraries/AC_PID/AC_PID.h
View File

@ -82,6 +82,8 @@ public:
AP_Float &filt_T_hz() { return _filt_T_hz; }
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; }
float imax() const { return _kimax.get(); }
float get_filt_alpha(float filt_hz) const;
float get_filt_T_alpha() const;
@ -110,6 +112,9 @@ public:
// set slew limiter scale factor
void set_slew_limit_scale(int8_t scale) { _slew_limit_scale = scale; }
// return current slew rate of slew limiter. Will return 0 if SMAX is zero
float get_slew_rate(void) const { return _slew_limiter.get_slew_rate(); }
const AP_Logger::PID_Info& get_pid_info(void) const { return _pid_info; }
// parameter var table