mirror of https://github.com/ArduPilot/ardupilot
60 lines
1.3 KiB
C++
60 lines
1.3 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_Logger/AP_Logger.h>
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#include <cmath>
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class AP_YawController {
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public:
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AP_YawController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms)
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: aparm(parms)
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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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_pid_info.desired = 0;
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_pid_info.FF = 0;
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_pid_info.P = 0;
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}
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/* Do not allow copies */
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AP_YawController(const AP_YawController &other) = delete;
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AP_YawController &operator=(const AP_YawController&) = delete;
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int32_t get_servo_out(float scaler, bool disable_integrator);
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void reset_I();
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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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// 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_Logger::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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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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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_Logger::PID_Info _pid_info;
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AP_AHRS &_ahrs;
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};
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