mirror of https://github.com/ArduPilot/ardupilot
65 lines
1.9 KiB
C++
65 lines
1.9 KiB
C++
#pragma once
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/// @file AC_P_1D.h
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/// @brief Generic P controller, with EEPROM-backed storage of constants.
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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/// @class AC_P_1D
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/// @brief Object managing one P controller
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class AC_P_1D {
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public:
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// constructor
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AC_P_1D(float initial_p, float dt);
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CLASS_NO_COPY(AC_P_1D);
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// set time step in seconds
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void set_dt(float dt) { _dt = dt; }
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// update_all - set target and measured inputs to P controller and calculate outputs
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// target and measurement are filtered
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float update_all(float &target, float measurement) WARN_IF_UNUSED;
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// set_limits - sets the maximum error to limit output and first and second derivative of output
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void set_limits(float output_min, float output_max, float D_Out_max = 0.0f, float D2_Out_max = 0.0f);
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// set_error_limits - reduce maximum position error to error_max
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// to be called after setting limits
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void set_error_limits(float error_min, float error_max);
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// get_error_min - return minimum position error
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float get_error_min() const { return _error_min; }
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// get_error_max - return maximum position error
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float get_error_max() const { return _error_max; }
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// save gain to eeprom
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void save_gains() { _kp.save(); }
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// accessors
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AP_Float &kP() WARN_IF_UNUSED { return _kp; }
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const AP_Float &kP() const WARN_IF_UNUSED { return _kp; }
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float get_error() const { return _error; }
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// set accessors
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void kP(float v) { _kp.set(v); }
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// parameter var table
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// parameters
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AP_Float _kp;
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// internal variables
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float _dt; // time step in seconds
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float _error; // time step in seconds
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float _error_min; // error limit in negative direction
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float _error_max; // error limit in positive direction
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float _D1_max; // maximum first derivative of output
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};
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