mirror of https://github.com/ArduPilot/ardupilot
66 lines
1.9 KiB
C++
66 lines
1.9 KiB
C++
#pragma once
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#include <AP_AHRS/AP_AHRS.h>
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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_Logger/AP_Logger.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_PitchController {
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public:
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AP_PitchController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms);
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/* Do not allow copies */
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AP_PitchController(const AP_PitchController &other) = delete;
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AP_PitchController &operator=(const AP_PitchController&) = delete;
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int32_t get_rate_out(float desired_rate, float scaler);
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int32_t 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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// 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_Logger::PID_Info& get_pid_info(void) const { return _pid_info; }
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static const struct AP_Param::GroupInfo var_info[];
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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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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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AP_Int16 _max_rate_neg;
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AP_Float _roll_ff;
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uint32_t _last_t;
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float _last_out;
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AC_PID rate_pid{0.04, 0.15, 0, 0.345, 0.666, 3, 0, 12, 0.02, 150, 1};
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float angle_err_deg;
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AP_Logger::PID_Info _pid_info;
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int32_t _get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed, bool ground_mode);
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float _get_coordination_rate_offset(float &aspeed, bool &inverted) const;
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AP_AHRS &_ahrs;
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};
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