ardupilot/libraries/APM_Control/AP_YawController.h

60 lines
1.3 KiB
C++

#pragma once
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Common/AP_Common.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_Logger/AP_Logger.h>
#include <cmath>
class AP_YawController {
public:
AP_YawController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms)
: aparm(parms)
, _ahrs(ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
_pid_info.desired = 0;
_pid_info.FF = 0;
_pid_info.P = 0;
}
/* Do not allow copies */
AP_YawController(const AP_YawController &other) = delete;
AP_YawController &operator=(const AP_YawController&) = delete;
int32_t get_servo_out(float scaler, bool disable_integrator);
void reset_I();
/*
reduce the integrator, used when we have a low scale factor in a quadplane hover
*/
void decay_I() {
// this reduces integrator by 95% over 2s
_pid_info.I *= 0.995f;
}
const AP_Logger::PID_Info& get_pid_info(void) const {return _pid_info; }
static const struct AP_Param::GroupInfo var_info[];
private:
const AP_Vehicle::FixedWing &aparm;
AP_Float _K_A;
AP_Float _K_I;
AP_Float _K_D;
AP_Float _K_FF;
AP_Int16 _imax;
uint32_t _last_t;
float _last_out;
float _last_rate_hp_out;
float _last_rate_hp_in;
float _K_D_last;
float _integrator;
AP_Logger::PID_Info _pid_info;
AP_AHRS &_ahrs;
};