mirror of https://github.com/ArduPilot/ardupilot
34 lines
1.0 KiB
C++
34 lines
1.0 KiB
C++
#pragma once
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/// @file AC_HELI_PID.h
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/// @brief Helicopter Specific Rate PID algorithm, with EEPROM-backed storage of constants.
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <stdlib.h>
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#include <cmath>
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#include "AC_PID.h"
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static const float AC_PID_LEAK_MIN = 0.1f; // Default I-term Leak Minimum
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/// @class AC_HELI_PID
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/// @brief Heli PID control class
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class AC_HELI_PID : public AC_PID {
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public:
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/// Constructor for PID
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AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_ff, float initial_imax, float initial_filt_T_hz, float initial_filt_E_hz, float initial_filt_D_hz, float dff_val=0);
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CLASS_NO_COPY(AC_HELI_PID);
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/// update_leaky_i - replacement for get_i but output is leaked at leak_rate
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void update_leaky_i(float leak_rate);
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static const struct AP_Param::GroupInfo var_info[];
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private:
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AP_Float _leak_min;
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float _last_requested_rate; // Requested rate from last iteration, used to calculate rate change of requested rate
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};
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