ardupilot/libraries/APM_Control/AP_PitchController.h

66 lines
1.8 KiB
C++

#pragma once
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Common/AP_Common.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include "AP_AutoTune.h"
#include <AP_Logger/AP_Logger.h>
#include <AP_Math/AP_Math.h>
class AP_PitchController {
public:
AP_PitchController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms)
: aparm(parms)
, autotune(gains, AP_AutoTune::AUTOTUNE_PITCH, parms)
, _ahrs(ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
}
/* Do not allow copies */
AP_PitchController(const AP_PitchController &other) = delete;
AP_PitchController &operator=(const AP_PitchController&) = delete;
int32_t get_rate_out(float desired_rate, float scaler);
int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator);
void reset_I();
/*
reduce the integrator, used when we have a low scale factor in a quadplane hover
*/
void decay_I() {
// this reduces integrator by 95% over 2s
_pid_info.I *= 0.995f;
}
void autotune_start(void) { autotune.start(); }
void autotune_restore(void) { autotune.stop(); }
const AP_Logger::PID_Info& get_pid_info(void) const { return _pid_info; }
static const struct AP_Param::GroupInfo var_info[];
AP_Float &kP(void) { return gains.P; }
AP_Float &kI(void) { return gains.I; }
AP_Float &kD(void) { return gains.D; }
AP_Float &kFF(void) { return gains.FF; }
private:
const AP_Vehicle::FixedWing &aparm;
AP_AutoTune::ATGains gains;
AP_AutoTune autotune;
AP_Int16 _max_rate_neg;
AP_Float _roll_ff;
uint32_t _last_t;
float _last_out;
AP_Logger::PID_Info _pid_info;
int32_t _get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed);
float _get_coordination_rate_offset(float &aspeed, bool &inverted) const;
AP_AHRS &_ahrs;
};