mirror of https://github.com/ArduPilot/ardupilot
124 lines
3.7 KiB
C++
124 lines
3.7 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file PI.h
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/// @brief Generic PI algorithm, with EEPROM-backed storage of constants.
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#ifndef APM_PI_h
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#define APM_PI_h
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#include <AP_Common.h>
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//#include <math.h> // for fabs()
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/// @class APM_PI
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/// @brief Object managing one PI control
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class APM_PI {
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public:
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/// Constructor for PI that saves its settings to EEPROM
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///
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/// @note PI 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 key Storage key assigned to this PI. Should be unique.
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/// @param name Name by which the PI is known, or NULL for an anonymous PI.
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/// The name is prefixed to the P, I, IMAX variable names when
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/// they are reported.
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/// @param initial_p Initial value for the P term.
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/// @param initial_i Initial value for the I term.
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/// @param initial_imax Initial value for the imax term.4
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///
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APM_PI(AP_Var::Key key,
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const prog_char_t *name,
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const float &initial_p = 0.0,
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const float &initial_i = 0.0,
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const int16_t &initial_imax = 0.0) :
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_group(key, name),
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// group, index, initial value, name
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_kp (&_group, 0, initial_p, PSTR("P")),
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_ki (&_group, 1, initial_i, PSTR("I")),
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_imax(&_group, 3, initial_imax, PSTR("IMAX"))
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{
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// no need for explicit load, assuming that the main code uses AP_Var::load_all.
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}
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/// Constructor for PI that does not save its settings.
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///
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/// @param name Name by which the PI is known, or NULL for an anonymous PI.
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/// The name is prefixed to the P, I, IMAX variable names when
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/// they are reported.
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/// @param initial_p Initial value for the P term.
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/// @param initial_i Initial value for the I term.
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/// @param initial_imax Initial value for the imax term.4
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///
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APM_PI(const prog_char_t *name,
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const float &initial_p = 0.0,
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const float &initial_i = 0.0,
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const int16_t &initial_imax = 0.0) :
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_group(AP_Var::k_key_none, name),
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// group, index, initial value, name
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_kp (&_group, 0, initial_p, PSTR("P")),
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_ki (&_group, 1, initial_i, PSTR("I")),
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_imax(&_group, 3, initial_imax, PSTR("IMAX"))
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{
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}
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/// Iterate the PI, 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_pi(int32_t error, float dt);
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long get_pi(int32_t error, float dt, bool calc_i=true);
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/// Reset the PI integrator
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///
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void reset_I();
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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,
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const float i,
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const int16_t imaxval) {
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_kp = p; _ki = i; _imax = imaxval;
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}
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float kP() const { return _kp.get(); }
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float kI() const { return _ki.get(); }
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int16_t imax() const { return _imax.get(); }
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void kP(const float v) { _kp.set(v); }
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void kI(const float v) { _ki.set(v); }
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void imax(const int16_t v) { _imax.set(abs(v)); }
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float get_integrator() const { return _integrator; }
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private:
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AP_Var_group _group;
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AP_Float16 _kp;
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AP_Float16 _ki;
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AP_Int16 _imax;
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float _integrator; ///< integrator value
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};
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#endif
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