mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.2 KiB
C++
53 lines
1.2 KiB
C++
#ifndef PID_h
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#define PID_h
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#include <avr/eeprom.h>
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#include "WProgram.h"
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//#define PID_SIZE 8
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class PID {
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public:
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// note, if using the eeprom load_gains/save_gains functions
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// it is not necessary to pass a gain_array pointer, instead
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// you need to pass address to load_gains/ save_gains functions
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PID(float * gain_array = 0);
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long get_pid(long err, long dt, float scaler);
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void reset_I();
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void load_gains(int address);
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void save_gains(int address);
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void load_gains();
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void save_gains();
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void set_P(float p);
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void set_I(float i);
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void set_D(float d);
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void set_imax(int imax);
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void test(void);
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float get_P(void);
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float get_I(void);
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float get_D(void);
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int get_imax(void);
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float _imax; // integrator max
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float _integrator; // integrator value
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float _last_error; // last error for derivative
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float _kp;
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float _ki;
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float _kd;
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private:
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// low pass filter cut frequency
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// for derivative calculation,
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// set to 20 Hz becasue anything over that
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// is probably noise, see
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// http://en.wikipedia.org/wiki/Low-pass_filter
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static uint8_t RC = 20;
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// pointer to the gains for this pid,
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// if not using eeprom save/load
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float * gain_array;
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};
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#endif
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