mirror of https://github.com/ArduPilot/ardupilot
71 lines
1.9 KiB
C++
71 lines
1.9 KiB
C++
#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include "AP_AutoTune.h"
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#include <AP_Math/AP_Math.h>
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#include <AC_PID/AC_PID.h>
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class AP_RollController
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{
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public:
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AP_RollController(const AP_Vehicle::FixedWing &parms);
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/* Do not allow copies */
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AP_RollController(const AP_RollController &other) = delete;
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AP_RollController &operator=(const AP_RollController&) = delete;
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float get_rate_out(float desired_rate, float scaler);
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float get_servo_out(int32_t angle_err, float scaler, bool disable_integrator, bool ground_mode);
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void reset_I();
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/*
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reduce the integrator, used when we have a low scale factor in a quadplane hover
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*/
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void decay_I()
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{
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// this reduces integrator by 95% over 2s
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_pid_info.I *= 0.995f;
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rate_pid.set_integrator(rate_pid.get_i() * 0.995);
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}
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void autotune_start(void);
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void autotune_restore(void);
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const AP_PIDInfo& get_pid_info(void) const
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{
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return _pid_info;
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}
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static const struct AP_Param::GroupInfo var_info[];
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// tuning accessors
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void kP(float v) { rate_pid.kP().set(v); }
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void kI(float v) { rate_pid.kI().set(v); }
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void kD(float v) { rate_pid.kD().set(v); }
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void kFF(float v) {rate_pid.ff().set(v); }
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AP_Float &kP(void) { return rate_pid.kP(); }
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AP_Float &kI(void) { return rate_pid.kI(); }
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AP_Float &kD(void) { return rate_pid.kD(); }
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AP_Float &kFF(void) { return rate_pid.ff(); }
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AP_Float &tau(void) { return gains.tau; }
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void convert_pid();
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private:
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const AP_Vehicle::FixedWing &aparm;
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AP_AutoTune::ATGains gains;
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AP_AutoTune *autotune;
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bool failed_autotune_alloc;
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float _last_out;
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AC_PID rate_pid{0.08, 0.15, 0, 0.345, 0.666, 3, 0, 12, 150, 1};
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float angle_err_deg;
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AP_PIDInfo _pid_info;
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float _get_rate_out(float desired_rate, float scaler, bool disable_integrator, bool ground_mode);
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};
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