mirror of https://github.com/ArduPilot/ardupilot
42 lines
1.4 KiB
C++
42 lines
1.4 KiB
C++
/// @file AC_P_2D.cpp
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/// @brief 2-axis P controller
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#include <AP_Math/AP_Math.h>
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#include "AC_P_2D.h"
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const AP_Param::GroupInfo AC_P_2D::var_info[] = {
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// @Param: P
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// @DisplayName: Proportional Gain
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// @Description: P Gain which produces an output value that is proportional to the current error value
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AP_GROUPINFO("P", 0, AC_P_2D, _kp, 0),
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AP_GROUPEND
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};
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// Constructor
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AC_P_2D::AC_P_2D(float initial_p, float dt) :
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_dt(dt)
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{
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// load parameter values from eeprom
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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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// set target and measured inputs to P controller and calculate outputs
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Vector2f AC_P_2D::update_all(float &target_x, float &target_y, const Vector2f &measurement, float error_max, float D2_max)
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{
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// calculate distance _error
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Vector2f error = Vector2f(target_x, target_y) - measurement;
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// Constrain _error and target position
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// Constrain the maximum length of _vel_target to the maximum position correction velocity
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if (error.limit_length(error_max)) {
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target_x = measurement.x + error.x;
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target_y = measurement.y + error.y;
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}
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// MIN(_Dmax, _D2max / _kp) limits the max accel to the point where max jerk is exceeded
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// return sqrt_controller(Vector2f(_error.x, _error.y), _kp, MIN(_D_max, _D2_max / _kp), _dt);
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return sqrt_controller(error, _kp, D2_max, _dt);
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}
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