mirror of https://github.com/ArduPilot/ardupilot
43 lines
813 B
C++
43 lines
813 B
C++
#pragma once
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/*
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Generic PI for systems like heater control, no filtering
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*/
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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_PI {
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public:
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// Constructor
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AC_PI(float initial_p, float initial_i, float initial_imax);
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CLASS_NO_COPY(AC_PI);
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// update controller
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float update(float measurement, float target, float dt);
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// parameter var table
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static const struct AP_Param::GroupInfo var_info[];
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float get_P() const {
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return output_P;
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}
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float get_I() const {
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return integrator;
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}
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protected:
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AP_Float kP;
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AP_Float kI;
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AP_Float imax;
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float integrator;
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float output_P;
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private:
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const float default_kp;
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const float default_ki;
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const float default_imax;
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};
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