mirror of https://github.com/ArduPilot/ardupilot
98 lines
2.8 KiB
C++
98 lines
2.8 KiB
C++
#pragma once
|
|
|
|
/// @file AC_PI_2D.h
|
|
/// @brief 2-axis PI controller with EEPROM-backed storage of constants.
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_Param/AP_Param.h>
|
|
#include <stdlib.h>
|
|
#include <cmath>
|
|
|
|
#define AC_PI_2D_FILT_HZ_MIN 0.01f // minimum input filter frequency
|
|
|
|
/// @class AC_PI_2D
|
|
/// @brief 2-axis PI controller
|
|
class AC_PI_2D {
|
|
public:
|
|
|
|
// constructor
|
|
AC_PI_2D(float initial_p, float initial_i, float initial_imax, float initial_filt_hz, float dt);
|
|
|
|
CLASS_NO_COPY(AC_PI_2D);
|
|
|
|
// set time step in seconds
|
|
void set_dt(float dt);
|
|
|
|
// set_input - set input to PI controller
|
|
// input is filtered before the PI controllers are run
|
|
// this should be called before any other calls to get_p, get_i or get_d
|
|
void set_input(const Vector2f &input);
|
|
void set_input(const Vector3f &input) { set_input(Vector2f{input.x, input.y}); }
|
|
|
|
// get_pi - get results from pid controller
|
|
Vector2f get_pi();
|
|
Vector2f get_p() const;
|
|
Vector2f get_i();
|
|
Vector2f get_i_shrink(); // get_i but do not allow integrator to grow (it may shrink)
|
|
|
|
// reset_I - reset the integrator
|
|
void reset_I();
|
|
|
|
// reset_filter - input filter will be reset to the next value provided to set_input()
|
|
void reset_filter();
|
|
|
|
// load gain from eeprom
|
|
void load_gains();
|
|
|
|
// save gain to eeprom
|
|
void save_gains();
|
|
|
|
// get accessors
|
|
AP_Float &kP() { return _kp; }
|
|
AP_Float &kI() { return _ki; }
|
|
float imax() const { return _imax.get(); }
|
|
float filt_hz() const { return _filt_hz.get(); }
|
|
float get_filt_alpha() const { return _filt_alpha; }
|
|
|
|
// set accessors
|
|
void kP(float v) { _kp.set(v); }
|
|
void kI(float v) { _ki.set(v); }
|
|
void imax(float v) { _imax.set(fabsf(v)); }
|
|
void filt_hz(float hz);
|
|
|
|
Vector2f get_integrator() const { return _integrator; }
|
|
void set_integrator(const Vector2f &i) { _integrator = i; }
|
|
void set_integrator(const Vector3f &i) { _integrator.x = i.x; _integrator.y = i.y; }
|
|
|
|
// parameter var table
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
private:
|
|
|
|
// calc_filt_alpha - recalculate the input filter alpha
|
|
void calc_filt_alpha();
|
|
|
|
// parameters
|
|
AP_Float _kp;
|
|
AP_Float _ki;
|
|
AP_Float _imax;
|
|
AP_Float _filt_hz; // PI Input filter frequency in Hz
|
|
|
|
// flags
|
|
struct ac_pid_flags {
|
|
bool _reset_filter : 1; // true when input filter should be reset during next call to set_input
|
|
} _flags;
|
|
|
|
// internal variables
|
|
float _dt; // time step in seconds
|
|
Vector2f _integrator; // integrator value
|
|
Vector2f _input; // last input for derivative
|
|
float _filt_alpha; // input filter alpha
|
|
|
|
const float default_kp;
|
|
const float default_ki;
|
|
const float default_imax;
|
|
const float default_filt_hz;
|
|
|
|
};
|