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AC_PID: support PD boosting

This commit is contained in:
Andy Piper 2022-05-28 16:58:25 +01:00 committed by Andrew Tridgell
parent d1b272fab7
commit f3ecb4ee6c
2 changed files with 6 additions and 2 deletions
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6
libraries/AC_PID/AC_PID.cpp
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@ -123,7 +123,7 @@ void AC_PID::slew_limit(float smax)
// target and error are filtered // target and error are filtered
// the derivative is then calculated and filtered // the derivative is then calculated and filtered
// the integral is then updated based on the setting of the limit flag // the integral is then updated based on the setting of the limit flag
float AC_PID::update_all(float target, float measurement, float dt, bool limit) float AC_PID::update_all(float target, float measurement, float dt, bool limit, float boost)
{ {
// don't process inf or NaN // don't process inf or NaN
if (!isfinite(target) || !isfinite(measurement)) { if (!isfinite(target) || !isfinite(measurement)) {
@ -161,6 +161,10 @@ float AC_PID::update_all(float target, float measurement, float dt, bool limit)
P_out *= _pid_info.Dmod; P_out *= _pid_info.Dmod;
D_out *= _pid_info.Dmod; D_out *= _pid_info.Dmod;
// boost output if required
P_out *= boost;
D_out *= boost;
_pid_info.target = _target; _pid_info.target = _target;
_pid_info.actual = measurement; _pid_info.actual = measurement;
_pid_info.error = _error; _pid_info.error = _error;

2
libraries/AC_PID/AC_PID.h
View File

@ -31,7 +31,7 @@ public:
// target and error are filtered // target and error are filtered
// the derivative is then calculated and filtered // the derivative is then calculated and filtered
// the integral is then updated based on the setting of the limit flag // the integral is then updated based on the setting of the limit flag
float update_all(float target, float measurement, float dt, bool limit = false); float update_all(float target, float measurement, float dt, bool limit = false, float boost = 1.0f);
// update_error - set error input to PID controller and calculate outputs // update_error - set error input to PID controller and calculate outputs
// target is set to zero and error is set and filtered // target is set to zero and error is set and filtered