mirror of https://github.com/ArduPilot/ardupilot
72 lines
1.8 KiB
C++
72 lines
1.8 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AC_PD.h
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/// @brief Generic PID algorithm, with EEPROM-backed storage of constants.
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#ifndef __AC_P_H__
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#define __AC_P_H__
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#include <AP_Common.h>
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#include <AP_Param.h>
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#include <stdlib.h>
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#include <math.h>
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/// @class AC_P
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/// @brief Object managing one P controller
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class AC_P {
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public:
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/// Constructor for P that saves its settings to EEPROM
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///
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/// @note PIs must be named to avoid either multiple parameters with the
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/// same name, or an overly complex constructor.
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///
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/// @param initial_p Initial value for the P term.
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///
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AC_P(
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const float & initial_p = 0.0)
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{
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AP_Param::setup_object_defaults(this, var_info);
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_kp = initial_p;
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}
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/// Iterate the P controller, 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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///
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/// @returns The updated control output.
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///
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float get_p(float error) const;
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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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/// Overload the function call operator to permit relatively easy initialisation
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void operator() (const float p) { _kp = p; }
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// accessors
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float kP() const { return _kp.get(); }
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void kP(const float v) { _kp.set(v); }
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static const struct AP_Param::GroupInfo var_info[];
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private:
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AP_Float _kp;
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};
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#endif // __AC_P_H__
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