ardupilot/libraries/AC_PID/AC_HELI_PID.h

32 lines
1.0 KiB
C++

#pragma once
/// @file AC_HELI_PID.h
/// @brief Helicopter Specific Rate 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>
#include "AC_PID.h"
static const float AC_PID_LEAK_MIN = 0.1f; // Default I-term Leak Minimum
/// @class AC_HELI_PID
/// @brief Heli PID control class
class AC_HELI_PID : public AC_PID {
public:
/// Constructor for PID
AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_ff, float initial_imax, float initial_filt_T_hz, float initial_filt_E_hz, float initial_filt_D_hz, float dt);
/// update_leaky_i - replacement for get_i but output is leaded at leak_rate
void update_leaky_i(float leak_rate);
static const struct AP_Param::GroupInfo var_info[];
private:
AP_Float _leak_min;
float _last_requested_rate; // Requested rate from last iteration, used to calculate rate change of requested rate
};