mirror of https://github.com/ArduPilot/ardupilot
80 lines
2.7 KiB
C++
80 lines
2.7 KiB
C++
#pragma once
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include "AP_AutoTune.h"
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#include <AP_Logger/AP_Logger.h>
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#include <AP_Math/AP_Math.h>
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class AP_RollController {
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public:
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AP_RollController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms)
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: aparm(parms)
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, autotune(gains, AP_AutoTune::AUTOTUNE_ROLL, parms)
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, _ahrs(ahrs)
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{
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AP_Param::setup_object_defaults(this, var_info);
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_slew_rate_filter.set_cutoff_frequency(10.0f);
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_slew_rate_filter.reset(0.0f);
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}
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/* Do not allow copies */
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AP_RollController(const AP_RollController &other) = delete;
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AP_RollController &operator=(const AP_RollController&) = delete;
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int32_t get_rate_out(float desired_rate, float scaler);
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int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator);
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void reset_I();
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/*
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reduce the integrator, used when we have a low scale factor in a quadplane hover
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*/
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void decay_I() {
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// this reduces integrator by 95% over 2s
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_pid_info.I *= 0.995f;
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}
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void autotune_start(void) { autotune.start(); }
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void autotune_restore(void) { autotune.stop(); }
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const AP_Logger::PID_Info& get_pid_info(void) const { return _pid_info; }
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static const struct AP_Param::GroupInfo var_info[];
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// tuning accessors
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void kP(float v) { gains.P.set(v); }
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void kI(float v) { gains.I.set(v); }
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void kD(float v) { gains.D.set(v); }
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void kFF(float v) { gains.FF.set(v); }
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AP_Float &kP(void) { return gains.P; }
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AP_Float &kI(void) { return gains.I; }
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AP_Float &kD(void) { return gains.D; }
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AP_Float &kFF(void) { return gains.FF; }
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private:
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const AP_Vehicle::FixedWing &aparm;
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AP_AutoTune::ATGains gains;
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AP_AutoTune autotune;
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uint32_t _last_t;
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float _last_out;
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AP_Logger::PID_Info _pid_info;
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int32_t _get_rate_out(float desired_rate, float scaler, bool disable_integrator);
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AP_AHRS &_ahrs;
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// D gain limit cycle control
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float _last_pid_info_D; // value of the D term (angular rate control feedback) from the previous time step (deg)
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LowPassFilterFloat _slew_rate_filter; // LPF applied to the derivative of the control action generated by the angular rate feedback
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float _slew_rate_amplitude; // Amplitude of the servo slew rate produced by the angular rate feedback (deg/sec)
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float _D_gain_modifier = 1.0f; // Gain modifier applied to the angular rate feedback to prevent excessive slew rate
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AP_Float _slew_rate_max; // Maximum permitted angular rate control feedback servo slew rate (deg/sec)
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AP_Float _slew_rate_tau; // Time constant used to recover gain after a slew rate exceedance (sec)
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};
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