mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.6 KiB
C++
56 lines
1.6 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#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 <DataFlash/DataFlash.h>
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#include <AP_Math/AP_Math.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, DataFlash_Class &_dataflash) :
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aparm(parms),
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autotune(gains, AP_AutoTune::AUTOTUNE_PITCH, parms, _dataflash),
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_ahrs(ahrs)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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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);
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void reset_I();
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void autotune_start(void) { autotune.start(); }
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void autotune_restore(void) { autotune.stop(); }
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const DataFlash_Class::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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// tuning accessors
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void kP(float v) { gains.P.set(v); }
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void kI(float v) { gains.I.set(v); }
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void kD(float v) { gains.D.set(v); }
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void kFF(float v) { gains.FF.set(v); }
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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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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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DataFlash_Class::PID_Info _pid_info;
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int32_t _get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed);
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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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