ardupilot/libraries/AC_PID/AC_PID_2D.h

105 lines
3.7 KiB
C++

#pragma once
/// @file AC_PID_2D.h
/// @brief Generic PID algorithm, with EEPROM-backed storage of constants.
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <stdlib.h>
#include <cmath>
/// @class AC_PID_2D
/// @brief Copter PID control class
class AC_PID_2D {
public:
// Constructor for PID
AC_PID_2D(float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float initial_filt_d_hz, float dt);
// set_dt - set time step in seconds
void set_dt(float dt);
// set_input - set input to PID controller
// input is filtered before the PID controllers are run
// this should be called before any other calls to get_p, get_i or get_d
void set_input(const Vector2f &input);
void set_input(const Vector3f &input) { set_input(Vector2f(input.x, input.y)); }
// get_pi - get results from pid controller
Vector2f get_pid();
Vector2f get_p() const;
Vector2f get_i();
Vector2f get_i_shrink(); // get_i but do not allow integrator to grow (it may shrink)
Vector2f get_d();
// reset_I - reset the integrator
void reset_I();
// reset_filter - input and D term filter will be reset to the next value provided to set_input()
void reset_filter();
// load gain from eeprom
void load_gains();
// save gain to eeprom
void save_gains();
// get accessors
AP_Float &kP() { return _kp; }
AP_Float &kI() { return _ki; }
float imax() const { return _imax.get(); }
float filt_hz() const { return _filt_hz.get(); }
float get_filt_alpha() const { return _filt_alpha; }
float filt_d_hz() const { return _filt_hz.get(); }
float get_filt_alpha_D() const { return _filt_alpha_d; }
// set accessors
void kP(const float v) { _kp.set(v); }
void kI(const float v) { _ki.set(v); }
void kD(const float v) { _kd.set(v); }
void imax(const float v) { _imax.set(fabsf(v)); }
void filt_hz(const float v);
void filt_d_hz(const float v);
Vector2f get_integrator() const { return _integrator; }
void set_integrator(const Vector2f &i) { _integrator = i; }
void set_integrator(const Vector3f &i) { _integrator.x = i.x; _integrator.y = i.y; }
// parameter var table
static const struct AP_Param::GroupInfo var_info[];
protected:
// set_input_filter_d - set input to PID controller
// only input to the D portion of the controller is filtered
// this should be called before any other calls to get_p, get_i or get_d
void set_input_filter_d(const Vector2f& input_delta);
// calc_filt_alpha - recalculate the input filter alpha
void calc_filt_alpha();
// calc_filt_alpha - recalculate the input filter alpha
void calc_filt_alpha_d();
// parameters
AP_Float _kp;
AP_Float _ki;
AP_Float _kd;
AP_Float _imax;
AP_Float _filt_hz; // PID Input filter frequency in Hz
AP_Float _filt_d_hz; // D term filter frequency in Hz
// flags
struct ac_pid_flags {
bool _reset_filter : 1; // true when input filter should be reset during next call to set_input
} _flags;
// internal variables
float _dt; // timestep in seconds
float _filt_alpha; // input filter alpha
float _filt_alpha_d; // input filter alpha
Vector2f _integrator; // integrator value
Vector2f _input; // last input for derivative
Vector2f _derivative; // last derivative for low-pass filter
};