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AC_PI_2D: replace set_filt_hz method with filt_hz

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Thanks to Jonathan Challinger for spotting this bug
This commit is contained in:
Randy Mackay 2015-03-11 14:17:01 +09:00
parent c10b0b34ca
commit cc0d5b9ced
2 changed files with 11 additions and 12 deletions
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17
libraries/AC_PID/AC_PI_2D.cpp
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@ -41,13 +41,10 @@ AC_PI_2D::AC_PI_2D(float initial_p, float initial_i, float initial_imax, float i
_kp = initial_p;
_ki = initial_i;
_imax = fabs(initial_imax);
_filt_hz = initial_filt_hz;
filt_hz(initial_filt_hz);
// reset input filter to first value received
_flags._reset_filter = true;
// calculate the input filter alpha
calc_filt_alpha();
}
// set_dt - set time step in seconds
@ -58,10 +55,14 @@ void AC_PI_2D::set_dt(float dt)
calc_filt_alpha();
}
// set_filt_hz - set input filter hz
void AC_PI_2D::set_filt_hz(float hz)
// filt_hz - set input filter hz
void AC_PI_2D::filt_hz(float hz)
{
_filt_hz.set(hz);
_filt_hz.set(fabs(hz));
// sanity check _filt_hz
_filt_hz = max(_filt_hz, AC_PI_2D_FILT_HZ_MIN);
// calculate the input filter alpha
calc_filt_alpha();
}
@ -160,7 +161,7 @@ void AC_PI_2D::operator() (float p, float i, float imaxval, float input_filt_hz,
// calc_filt_alpha - recalculate the input filter alpha
void AC_PI_2D::calc_filt_alpha()
{
{
// calculate alpha
float rc = 1/(2*PI*_filt_hz);
_filt_alpha = _dt / (_dt + rc);

6
libraries/AC_PID/AC_PI_2D.h
View File

@ -12,6 +12,7 @@
#include <math.h>
#define AC_PI_2D_FILT_HZ_DEFAULT 20.0f // default input filter frequency
#define AC_PI_2D_FILT_HZ_MIN 0.01f // minimum input filter frequency
/// @class AC_PI_2D
/// @brief Copter PID control class
@ -24,9 +25,6 @@ public:
// set_dt - set time step in seconds
void set_dt(float dt);
// set_filt_hz - set input filter hz
void set_filt_hz(float hz);
// set_input - set input to PID controller
// input is filtered before the PID controllers are run
// this should be called before any other calls to get_p, get_i or get_d
@ -65,7 +63,7 @@ public:
void kP(const float v) { _kp.set(v); }
void kI(const float v) { _ki.set(v); }
void imax(const float v) { _imax.set(fabs(v)); }
void filt_hz(const float v) { _filt_hz.set(fabs(v)); }
void filt_hz(const float v);
Vector2f get_integrator() const { return _integrator; }
void set_integrator(const Vector2f &i) { _integrator = i; }