mirror of https://github.com/ArduPilot/ardupilot
62 lines
1.0 KiB
C++
62 lines
1.0 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file ACM_PI.cpp
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/// @brief Generic PI algorithm
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#include <AP_Math.h>
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#include "APM_PI.h"
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const AP_Param::GroupInfo APM_PI::var_info[] PROGMEM = {
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AP_GROUPINFO("P", 0, APM_PI, _kp, 0),
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AP_GROUPINFO("I", 1, APM_PI, _ki, 0),
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AP_GROUPINFO("IMAX", 2, APM_PI, _imax, 0),
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AP_GROUPEND
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};
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int32_t APM_PI::get_p(int32_t error)
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{
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return (float)error * _kp;
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}
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int32_t APM_PI::get_i(int32_t error, float dt)
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{
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if(dt != 0) {
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_integrator += ((float)error * _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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}
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return _integrator;
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}
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int32_t APM_PI::get_pi(int32_t error, float dt)
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{
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return get_p(error) + get_i(error, dt);
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}
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void
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APM_PI::reset_I()
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{
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_integrator = 0;
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}
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void
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APM_PI::load_gains()
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{
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_kp.load();
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_ki.load();
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_imax.load();
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}
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void
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APM_PI::save_gains()
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{
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_kp.save();
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_ki.save();
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_imax.save();
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}
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