mirror of https://github.com/ArduPilot/ardupilot
46 lines
1.4 KiB
C++
46 lines
1.4 KiB
C++
#pragma once
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/// @file AC_P_2D.h
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/// @brief 2-axis 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_2D
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/// @brief 2-axis P controller
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class AC_P_2D {
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public:
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// constructor
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AC_P_2D(float initial_p, float dt);
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// set time step in seconds
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void set_dt(float dt) { _dt = dt; }
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// set target and measured inputs to P controller and calculate outputs
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Vector2f update_all(float &target_x, float &target_y, const Vector2f &measurement, float error_max, float D2_max) WARN_IF_UNUSED;
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// set target and measured inputs to P controller and calculate outputs
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// measurement is provided as 3-axis vector but only x and y are used
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Vector2f update_all(float &target_x, float &target_y, const Vector3f &measurement, float error_max, float D2_max) WARN_IF_UNUSED {
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return update_all(target_x, target_y, Vector2f(measurement.x, measurement.y), error_max, D2_max);
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}
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// get 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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// set accessor
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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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};
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