mirror of https://github.com/ArduPilot/ardupilot
78 lines
1.9 KiB
C++
78 lines
1.9 KiB
C++
#pragma once
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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 <AC_PID/AC_PID.h>
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#include "AP_AutoTune.h"
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class AP_YawController
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{
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public:
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AP_YawController(const AP_Vehicle::FixedWing &parms);
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/* Do not allow copies */
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CLASS_NO_COPY(AP_YawController);
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// return true if rate control or damping is enabled
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bool enabled() const { return rate_control_enabled() || (_K_D > 0.0); }
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// return true if rate control is enabled
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bool rate_control_enabled(void) const { return _rate_enable != 0; }
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// get actuator output for sideslip and yaw damping control
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int32_t get_servo_out(float scaler, bool disable_integrator);
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// get actuator output for direct rate control
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// desired_rate is in deg/sec. scaler is the surface speed scaler
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float get_rate_out(float desired_rate, float scaler, bool disable_integrator);
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void reset_I();
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void reset_rate_PID();
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/*
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reduce the integrator, used when we have a low scale factor in a quadplane hover
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*/
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void decay_I()
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{
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// this reduces integrator by 95% over 2s
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_pid_info.I *= 0.995f;
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}
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const AP_PIDInfo& get_pid_info(void) const
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{
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return _pid_info;
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}
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// start/stop auto tuner
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void autotune_start(void);
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void autotune_restore(void);
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static const struct AP_Param::GroupInfo var_info[];
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private:
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const AP_Vehicle::FixedWing &aparm;
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AP_Float _K_A;
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AP_Float _K_I;
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AP_Float _K_D;
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AP_Float _K_FF;
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AP_Int16 _imax;
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AP_Int8 _rate_enable;
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AC_PID rate_pid{0.04, 0.15, 0, 0.15, 0.666, 3, 0, 12, 0.02, 150, 1};
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uint32_t _last_t;
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float _last_out;
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float _last_rate_hp_out;
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float _last_rate_hp_in;
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float _K_D_last;
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float _integrator;
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AP_AutoTune::ATGains gains;
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AP_AutoTune *autotune;
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bool failed_autotune_alloc;
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AP_PIDInfo _pid_info;
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};
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