Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AC_HELI_PID: support for upgrade to PID object 

updates parameters based on new PID library
rename get_leaky_i to update_leaky_i and move FILT locations
This commit is contained in:
Leonard Hall 2019-06-27 19:03:49 +09:30 committed by Randy Mackay
parent ab0bdc9fe6
commit ee820258ad
2 changed files with 30 additions and 22 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

46
libraries/AC_PID/AC_HELI_PID.cpp
View File

@ -20,20 +20,19 @@ const AP_Param::GroupInfo AC_HELI_PID::var_info[] = {
// @Description: D Gain which produces an output that is proportional to the rate of change of the error // @Description: D Gain which produces an output that is proportional to the rate of change of the error
AP_GROUPINFO("D", 2, AC_HELI_PID, _kd, 0), AP_GROUPINFO("D", 2, AC_HELI_PID, _kd, 0),
// 3 was for uint16 IMAX
// @Param: VFF // @Param: VFF
// @DisplayName: Velocity FF FeedForward Gain // @DisplayName: Velocity FF FeedForward Gain
// @Description: Velocity FF Gain which produces an output value that is proportional to the demanded input // @Description: Velocity FF Gain which produces an output value that is proportional to the demanded input
AP_GROUPINFO("VFF", 4, AC_HELI_PID, _ff, 0), AP_GROUPINFO("VFF", 4, AC_HELI_PID, _kff, 0),
// @Param: IMAX // @Param: IMAX
// @DisplayName: PID Integral Maximum // @DisplayName: PID Integral Maximum
// @Description: The maximum/minimum value that the I term can output // @Description: The maximum/minimum value that the I term can output
AP_GROUPINFO("IMAX", 5, AC_HELI_PID, _imax, 0), AP_GROUPINFO("IMAX", 5, AC_HELI_PID, _kimax, 0),
// @Param: FILT // 6 was for float FILT
// @DisplayName: PID Input filter frequency in Hz
// @Description: PID Input filter frequency in Hz
AP_GROUPINFO("FILT", 6, AC_HELI_PID, _filt_hz, AC_PID_FILT_HZ_DEFAULT),
// @Param: ILMI // @Param: ILMI
// @DisplayName: I-term Leak Minimum // @DisplayName: I-term Leak Minimum
@ -42,14 +41,32 @@ const AP_Param::GroupInfo AC_HELI_PID::var_info[] = {
// @User: Advanced // @User: Advanced
AP_GROUPINFO("ILMI", 7, AC_HELI_PID, _leak_min, AC_PID_LEAK_MIN), AP_GROUPINFO("ILMI", 7, AC_HELI_PID, _leak_min, AC_PID_LEAK_MIN),
// index 8 was for AFF, now removed // 8 was for float AFF
// @Param: FLTT
// @DisplayName: PID Target filter frequency in Hz
// @Description: Target filter frequency in Hz
// @Units: Hz
AP_GROUPINFO("FLTT", 9, AC_HELI_PID, _filt_T_hz, AC_PID_TFILT_HZ_DEFAULT),
// @Param: FLTE
// @DisplayName: PID Error filter frequency in Hz
// @Description: Error filter frequency in Hz
// @Units: Hz
AP_GROUPINFO("FLTE", 10, AC_HELI_PID, _filt_E_hz, AC_PID_EFILT_HZ_DEFAULT),
// @Param: FLTD
// @DisplayName: PID D term filter frequency in Hz
// @Description: Derivative filter frequency in Hz
// @Units: Hz
AP_GROUPINFO("FLTD", 11, AC_HELI_PID, _filt_D_hz, AC_PID_DFILT_HZ_DEFAULT),
AP_GROUPEND AP_GROUPEND
}; };
/// Constructor for PID /// Constructor for PID
AC_HELI_PID::AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float dt, float initial_ff) : AC_HELI_PID::AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_ff, float initial_imax, float initial_filt_T_hz, float initial_filt_E_hz, float initial_filt_D_hz, float dt) :
AC_PID(initial_p, initial_i, initial_d, initial_imax, initial_filt_hz, dt, initial_ff) AC_PID(initial_p, initial_i, initial_d, initial_ff, initial_imax, initial_filt_T_hz, initial_filt_E_hz, initial_filt_D_hz, dt)
{ {
_last_requested_rate = 0; _last_requested_rate = 0;
} }
@ -57,7 +74,7 @@ AC_HELI_PID::AC_HELI_PID(float initial_p, float initial_i, float initial_d, floa
// This is an integrator which tends to decay to zero naturally // This is an integrator which tends to decay to zero naturally
// if the error is zero. // if the error is zero.
float AC_HELI_PID::get_leaky_i(float leak_rate) void AC_HELI_PID::update_leaky_i(float leak_rate)
{ {
if(!is_zero(_ki) && !is_zero(_dt)){ if(!is_zero(_ki) && !is_zero(_dt)){
@ -68,15 +85,6 @@ float AC_HELI_PID::get_leaky_i(float leak_rate)
_integrator -= (float)(_integrator + _leak_min) * leak_rate; _integrator -= (float)(_integrator + _leak_min) * leak_rate;
} }
_integrator += ((float)_input * _ki) * _dt;
if (_integrator < -_imax) {
_integrator = -_imax;
} else if (_integrator > _imax) {
_integrator = _imax;
}
_pid_info.I = _integrator; _pid_info.I = _integrator;
return _integrator;
} }
return 0;
} }

6
libraries/AC_PID/AC_HELI_PID.h
View File

@ -17,10 +17,10 @@ class AC_HELI_PID : public AC_PID {
public: public:
/// Constructor for PID /// Constructor for PID
AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float dt, float initial_ff); AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_ff, float initial_imax, float initial_filt_T_hz, float initial_filt_E_hz, float initial_filt_D_hz, float dt);
/// get_leaky_i - replacement for get_i but output is leaded at leak_rate /// update_leaky_i - replacement for get_i but output is leaded at leak_rate
float get_leaky_i(float leak_rate); void update_leaky_i(float leak_rate);
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];