mirror of https://github.com/ArduPilot/ardupilot
140 lines
3.4 KiB
C++
140 lines
3.4 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file PID.h
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/// @brief Generic PID algorithm, with EEPROM-backed storage of constants.
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#ifndef PID_h
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#define PID_h
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#include <stdint.h>
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#include <AP_EEPROMB.h>
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/// @class PID
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/// @brief Object managing one PID control
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class PID {
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public:
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///
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// EEProm Storage Type
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enum storage_t
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{
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STORE_OFF,
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STORE_EEPROM_FLOAT,
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STORE_EEPROM_UINT16
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} _storage;
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/// Constructor
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///
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/// A PID constructed in this fashion does not support save/restore.
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/// Gains are managed internally, and must be read/written using the
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/// accessor functions.
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///
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PID() :
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_storage(STORE_OFF),
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_address(0),
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_gain_array(&_local_gains[0])
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{}
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/// Constructor
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///
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/// The PID will manage gains internally, and the load/save functions
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/// will use 16 bytes of EEPROM storage to store gain values.
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///
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/// @param address EEPROM base address at which PID parameters
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/// are stored.
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///
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PID(uint16_t address, storage_t storage = STORE_EEPROM_UINT16) :
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_storage(storage),
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_address(address),
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_gain_array(&_local_gains[0])
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{
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load_gains();
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}
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/// Constructor
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///
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/// Gain values for the PID are managed externally; load/save are a NOP.
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///
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/// @param gain_array Address of an array of float values. The
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/// array is used as kP, kI, kD and imax
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/// respectively.
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///
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PID(float *gain_array) :
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_storage(STORE_OFF),
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_gain_array(gain_array)
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{
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}
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/// Iterate the PID, return the new control value
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///
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/// Positive error produces positive output.
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///
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/// @param error The measured error value
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/// @param dt The time delta in milliseconds (note
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/// that update interval cannot be more
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/// than 65.535 seconds due to limited range
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/// of the data type).
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/// @param scaler An arbitrary scale factor
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///
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/// @returns The updated control output.
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///
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long get_pid(int32_t error, uint16_t dt, float scaler = 1.0);
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/// Reset the PID integrator
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///
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void reset_I() {
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_integrator = 0;
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_last_error = 0;
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_last_derivative = 0;
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}
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/// Load gain properties
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///
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void load_gains();
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/// Save gain properties
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///
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void save_gains();
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/// @name parameter accessors
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//@{
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float kP() { return _gain_array[0]; }
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float kI() { return _gain_array[1]; }
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float kD() { return _gain_array[2]; }
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float imax() { return _gain_array[3]; }
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void kP(const float v) { _gain_array[0] = v; }
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void kI(const float v) { _gain_array[1] = v; }
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void kD(const float v) { _gain_array[2] = v; }
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void imax(const float v);
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void address(const uint16_t v) { _address = v; }
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// one-shot operator for setting all of the gain properties at once
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//void operator ()(const float p, const float i, const float d, const float max)
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//{ kP(p); kI(i); kD(d); imax(max); }
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//@}
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float get_integrator() { return _integrator; }
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private:
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AP_EEPROMB _ee;
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uint16_t _address; ///< EEPROM address for save/restore of P/I/D
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float *_gain_array; ///< pointer to the gains for this pid
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float _local_gains[4]; ///< local storage for gains when not globally managed
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float _integrator; ///< integrator value
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int32_t _last_error; ///< last error for derivative
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float _last_derivative; ///< last derivative for low-pass filter
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/// Low pass filter cut frequency for derivative calculation.
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///
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/// 20 Hz becasue anything over that is probably noise, see
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/// http://en.wikipedia.org/wiki/Low-pass_filter.
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///
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static const uint8_t _RC = 20;
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};
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#endif
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