mirror of https://github.com/ArduPilot/ardupilot
105 lines
3.7 KiB
C++
105 lines
3.7 KiB
C++
#pragma once
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/// @file AC_PID_2D.h
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/// @brief Generic 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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/// @class AC_PID_2D
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/// @brief Copter PID control class
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class AC_PID_2D {
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public:
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// Constructor for PID
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AC_PID_2D(float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float initial_filt_d_hz, float dt);
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// set_dt - set time step in seconds
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void set_dt(float dt);
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// set_input - set input to PID controller
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// input is filtered before the PID controllers are run
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// this should be called before any other calls to get_p, get_i or get_d
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void set_input(const Vector2f &input);
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void set_input(const Vector3f &input) { set_input(Vector2f(input.x, input.y)); }
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// get_pi - get results from pid controller
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Vector2f get_pid();
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Vector2f get_p() const;
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Vector2f get_i();
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Vector2f get_i_shrink(); // get_i but do not allow integrator to grow (it may shrink)
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Vector2f get_d();
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// reset_I - reset the integrator
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void reset_I();
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// reset_filter - input and D term filter will be reset to the next value provided to set_input()
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void reset_filter();
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// load gain from eeprom
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void load_gains();
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// save gain to eeprom
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void save_gains();
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// get accessors
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AP_Float &kP() { return _kp; }
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AP_Float &kI() { return _ki; }
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float imax() const { return _imax.get(); }
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float filt_hz() const { return _filt_hz.get(); }
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float get_filt_alpha() const { return _filt_alpha; }
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float filt_d_hz() const { return _filt_hz.get(); }
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float get_filt_alpha_D() const { return _filt_alpha_d; }
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// set accessors
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void kP(const float v) { _kp.set(v); }
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void kI(const float v) { _ki.set(v); }
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void kD(const float v) { _kd.set(v); }
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void imax(const float v) { _imax.set(fabsf(v)); }
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void filt_hz(const float v);
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void filt_d_hz(const float v);
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Vector2f get_integrator() const { return _integrator; }
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void set_integrator(const Vector2f &i) { _integrator = i; }
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void set_integrator(const Vector3f &i) { _integrator.x = i.x; _integrator.y = i.y; }
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// parameter var table
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// set_input_filter_d - set input to PID controller
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// only input to the D portion of the controller is filtered
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// this should be called before any other calls to get_p, get_i or get_d
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void set_input_filter_d(const Vector2f& input_delta);
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// calc_filt_alpha - recalculate the input filter alpha
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void calc_filt_alpha();
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// calc_filt_alpha - recalculate the input filter alpha
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void calc_filt_alpha_d();
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// parameters
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AP_Float _kp;
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AP_Float _ki;
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AP_Float _kd;
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AP_Float _imax;
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AP_Float _filt_hz; // PID Input filter frequency in Hz
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AP_Float _filt_d_hz; // D term filter frequency in Hz
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// flags
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struct ac_pid_flags {
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bool _reset_filter : 1; // true when input filter should be reset during next call to set_input
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} _flags;
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// internal variables
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float _dt; // timestep in seconds
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float _filt_alpha; // input filter alpha
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float _filt_alpha_d; // input filter alpha
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Vector2f _integrator; // integrator value
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Vector2f _input; // last input for derivative
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Vector2f _derivative; // last derivative for low-pass filter
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};
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