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AC_PrecLand: velocity PI controller into parent class

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This commit is contained in:
Randy Mackay 2015-12-31 15:25:35 +09:00
parent 8e4586b4a2
commit bea69521c8
2 changed files with 25 additions and 5 deletions
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25
libraries/AC_PrecLand/AC_PrecLand.cpp
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@ -28,6 +28,26 @@ const AP_Param::GroupInfo AC_PrecLand::var_info[] = {
// @User: Advanced // @User: Advanced
AP_GROUPINFO("SPEED", 2, AC_PrecLand, _speed_xy, AC_PRECLAND_SPEED_XY_DEFAULT), AP_GROUPINFO("SPEED", 2, AC_PrecLand, _speed_xy, AC_PRECLAND_SPEED_XY_DEFAULT),
// @Param: VEL_P
// @DisplayName: Precision landing velocity controller P gain
// @Description: Precision landing velocity controller P gain
// @Range: 0.100 5.000
// @User: Advanced
// @Param: VEL_I
// @DisplayName: Precision landing velocity controller I gain
// @Description: Precision landing velocity controller I gain
// @Range: 0.100 5.000
// @User: Advanced
// @Param: VEL_IMAX
// @DisplayName: Precision landing velocity controller I gain maximum
// @Description: Precision landing velocity controller I gain maximum
// @Range: 0 1000
// @Units: cm/s
// @User: Standard
AP_SUBGROUPINFO(_pi_vel_xy, "VEL_", 3, AC_PrecLand, AC_PI_2D),
AP_GROUPEND AP_GROUPEND
}; };
@ -35,11 +55,10 @@ const AP_Param::GroupInfo AC_PrecLand::var_info[] = {
// Note that the Vector/Matrix constructors already implicitly zero // Note that the Vector/Matrix constructors already implicitly zero
// their values. // their values.
// //
AC_PrecLand::AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav, AC_PrecLand::AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav, float dt) :
AC_PI_2D& pi_precland_xy, float dt) :
_ahrs(ahrs), _ahrs(ahrs),
_inav(inav), _inav(inav),
_pi_precland_xy(pi_precland_xy), _pi_vel_xy(PRECLAND_P, PRECLAND_I, PRECLAND_IMAX, PRECLAND_FILT_HZ, dt),
_dt(dt), _dt(dt),
_have_estimate(false), _have_estimate(false),
_backend(NULL) _backend(NULL)

5
libraries/AC_PrecLand/AC_PrecLand.h
View File

@ -12,6 +12,7 @@
#define PRECLAND_P 2.0f // velocity controller P gain default #define PRECLAND_P 2.0f // velocity controller P gain default
#define PRECLAND_I 1.0f // velocity controller I gain default #define PRECLAND_I 1.0f // velocity controller I gain default
#define PRECLAND_IMAX 500.0f // velocity controller IMAX default #define PRECLAND_IMAX 500.0f // velocity controller IMAX default
#define PRECLAND_FILT_HZ 5.0f // velocity controller filter hz
#define PRECLAND_UPDATE_TIME 0.02f // precland runs at 50hz #define PRECLAND_UPDATE_TIME 0.02f // precland runs at 50hz
// declare backend classes // declare backend classes
@ -43,7 +44,7 @@ public:
}; };
// Constructor // Constructor
AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav, AC_PI_2D& pi_precland_xy, float dt); AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav, float dt);
// init - perform any required initialisation of landing controllers // init - perform any required initialisation of landing controllers
void init(); void init();
@ -83,7 +84,7 @@ private:
// references to inertial nav and ahrs libraries // references to inertial nav and ahrs libraries
const AP_AHRS& _ahrs; const AP_AHRS& _ahrs;
const AP_InertialNav& _inav; const AP_InertialNav& _inav;
AC_PI_2D& _pi_precland_xy; // horizontal velocity PI controller AC_PI_2D _pi_vel_xy; // horizontal velocity PI controller
// parameters // parameters
AP_Int8 _enabled; // enabled/disabled and behaviour AP_Int8 _enabled; // enabled/disabled and behaviour