mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.5 KiB
C++
50 lines
1.5 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AC_HELI_PID.h
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/// @brief Helicopter Specific Rate PID algorithm, with EEPROM-backed storage of constants.
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#ifndef __AC_HELI_PID_H__
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#define __AC_HELI_PID_H__
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <stdlib.h>
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#include <math.h>
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#include "AC_PID.h"
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#define AC_PID_LEAK_MIN 500.0 // Default I-term Leak Minimum
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/// @class AC_HELI_PID
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/// @brief Heli PID control class
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class AC_HELI_PID : public AC_PID {
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public:
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/// Constructor for PID
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AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float dt, float initial_ff);
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/// get_vff - return Velocity FeedForward Term
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float get_vff(float requested_rate);
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/// get_avff - return Acceleration FeedForward Term
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float get_aff(float requested_rate);
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/// get_leaky_i - replacement for get_i but output is leaded at leak_rate
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float get_leaky_i(float leak_rate);
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// accessors
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float ff() const { return _vff.get(); }
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void ff(const float v) { _vff.set(v); }
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static const struct AP_Param::GroupInfo var_info[];
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private:
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AP_Float _vff;
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AP_Float _leak_min;
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AP_Float _aff;
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float _last_requested_rate; // Requested rate from last iteration, used to calculate rate change of requested rate
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};
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#endif // __AC_HELI_PID_H__
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