ardupilot/libraries/AC_PID/AC_HELI_PID.h

67 lines
2.0 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @file AC_HELI_PID.h
/// @brief Helicopter Specific Rate PID algorithm, with EEPROM-backed storage of constants.
#ifndef __AC_HELI_PID_H__
#define __AC_HELI_PID_H__
#include <AP_Common.h>
#include <AP_Param.h>
#include <stdlib.h>
#include <math.h>
#include <AC_PID.h>
// Examples for _filter:
// f_cut = 10 Hz -> _filter = 15.9155e-3
// f_cut = 15 Hz -> _filter = 10.6103e-3
// f_cut = 20 Hz -> _filter = 7.9577e-3
// f_cut = 25 Hz -> _filter = 6.3662e-3
// f_cut = 30 Hz -> _filter = 5.3052e-3
#define AC_HELI_PID_D_TERM_FILTER 0.00795770f // 20hz filter on D term
/// @class AC_HELI_PID
/// @brief Object managing one PID control
class AC_HELI_PID : public AC_PID {
public:
/// Constructor for PID that saves its settings to EEPROM
///
/// @note PIDs 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.
/// @param initial_i Initial value for the I term.
/// @param initial_d Initial value for the D term.
/// @param initial_imax Initial value for the imax term.4
///
AC_HELI_PID(
const float & initial_p = 0.0,
const float & initial_i = 0.0,
const float & initial_d = 0.0,
const int16_t & initial_imax = 0.0,
const float & initial_ff = 0.0) :
AC_PID(initial_p, initial_i, initial_d, initial_imax)
{
_ff = initial_ff;
}
/// get_ff - return FeedForward Term
float get_ff(float requested_rate) const;
/// get_leaky_i - replacement for get_i but output is leaded at leak_rate
float get_leaky_i(float error, float dt, float leak_rate);
// accessors
float ff() const { return _ff.get(); }
void ff(const float v) { _ff.set(v); }
static const struct AP_Param::GroupInfo var_info[];
private:
AP_Float _ff;
};
#endif // __AC_HELI_PID_H__