ardupilot/libraries/AC_PID/AC_P.h

68 lines
1.7 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#pragma once
/// @file AC_PD.h
/// @brief Generic PID algorithm, with EEPROM-backed storage of constants.
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <stdlib.h>
#include <math.h>
/// @class AC_P
/// @brief Object managing one P controller
class AC_P {
public:
/// Constructor for P that saves its settings to EEPROM
///
/// @note PIs must be named to avoid either multiple parameters with the
/// same name, or an overly complex constructor.
///
/// @param initial_p Initial value for the P term.
///
AC_P(
const float & initial_p = 0.0f)
{
AP_Param::setup_object_defaults(this, var_info);
_kp = initial_p;
}
/// Iterate the P controller, return the new control value
///
/// Positive error produces positive output.
///
/// @param error The measured error value
/// @param dt The time delta in milliseconds (note
/// that update interval cannot be more
/// than 65.535 seconds due to limited range
/// of the data type).
///
/// @returns The updated control output.
///
float get_p(float error) const;
/// Load gain properties
///
void load_gains();
/// Save gain properties
///
void save_gains();
/// @name parameter accessors
//@{
/// Overload the function call operator to permit relatively easy initialisation
void operator() (const float p) { _kp = p; }
// accessors
float kP() const { return _kp.get(); }
void kP(const float v) { _kp.set(v); }
static const struct AP_Param::GroupInfo var_info[];
private:
AP_Float _kp;
};