mirror of https://github.com/ArduPilot/ardupilot
69 lines
2.0 KiB
C++
69 lines
2.0 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 <DataFlash/DataFlash.h>
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#include <AP_Math/AP_Math.h>
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class AP_RollController {
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public:
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static AP_RollController create(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms,
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DataFlash_Class &_dataflash) {
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return AP_RollController{ahrs, parms, _dataflash};
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}
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constexpr AP_RollController(AP_RollController &&other) = default;
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/* Do not allow copies */
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AP_RollController(const AP_RollController &other) = delete;
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AP_RollController &operator=(const AP_RollController&) = 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);
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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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AP_Float &kP(void) { return gains.P; }
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AP_Float &kI(void) { return gains.I; }
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AP_Float &kD(void) { return gains.D; }
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AP_Float &kFF(void) { return gains.FF; }
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private:
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AP_RollController(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_ROLL, 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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const AP_Vehicle::FixedWing &aparm;
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AP_AutoTune::ATGains gains;
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AP_AutoTune autotune;
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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);
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AP_AHRS &_ahrs;
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};
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