mirror of https://github.com/ArduPilot/ardupilot
72 lines
2.3 KiB
C++
72 lines
2.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AC_HELI_PID.cpp
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/// @brief Generic PID algorithm
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#include <AP_Math.h>
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#include "AC_HELI_PID.h"
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const AP_Param::GroupInfo AC_HELI_PID::var_info[] PROGMEM = {
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// @Param: P
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// @DisplayName: PID Proportional Gain
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// @Description: P Gain which produces an output value that is proportional to the current error value
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AP_GROUPINFO("P", 0, AC_HELI_PID, _kp, 0),
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// @Param: I
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// @DisplayName: PID Integral Gain
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// @Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error
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AP_GROUPINFO("I", 1, AC_HELI_PID, _ki, 0),
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// @Param: D
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// @DisplayName: PID Derivative Gain
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// @Description: D Gain which produces an output that is proportional to the rate of change of the error
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AP_GROUPINFO("D", 2, AC_HELI_PID, _kd, 0),
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// @Param: FC
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// @DisplayName: PID+FF FeedForward Gain
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// @Description: FF Gain which produces an output value that is proportional to the current error value
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AP_GROUPINFO("FF", 4, AC_HELI_PID, _ff, 0),
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// @Param: IMAX
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// @DisplayName: PID Integral Maximum
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// @Description: The maximum/minimum value that the I term can output
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AP_GROUPINFO("IMAX", 5, AC_HELI_PID, _imax, 0),
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// @Param: FILT_HZ
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// @DisplayName: PID Input filter frequency in Hz
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// @Description:
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AP_GROUPINFO("FILT_HZ", 6, AC_HELI_PID, _filt_hz, AC_PID_FILT_HZ_DEFAULT),
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AP_GROUPEND
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};
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/// Constructor for PID
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AC_HELI_PID::AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float dt) :
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AC_PID(initial_p, initial_i, initial_d, initial_imax, initial_filt_hz, dt)
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{
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_ff = 0.0f;
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}
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float AC_HELI_PID::get_ff(float requested_rate) const
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{
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return (float)requested_rate * _ff;
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}
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// This is an integrator which tends to decay to zero naturally
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// if the error is zero.
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float AC_HELI_PID::get_leaky_i(float leak_rate)
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{
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if((_ki != 0) && (_dt != 0)){
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_integrator -= (float)_integrator * leak_rate;
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_integrator += ((float)_input * _ki) * _dt;
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if (_integrator < -_imax) {
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_integrator = -_imax;
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} else if (_integrator > _imax) {
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_integrator = _imax;
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}
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return _integrator;
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}
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return 0;
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}
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