mirror of
https://github.com/ArduPilot/ardupilot
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fc0c75963b
the library name needs to match the header name for the arduino build to work git-svn-id: https://arducopter.googlecode.com/svn/trunk@3254 f9c3cf11-9bcb-44bc-f272-b75c42450872
50 lines
742 B
C++
50 lines
742 B
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file ACM_PI.cpp
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/// @brief Generic PI algorithm
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#include <math.h>
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#include "APM_PI.h"
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long
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APM_PI::get_pi(int32_t error, uint16_t dt)
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{
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float output = 0;
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float delta_time = (float)dt / 1000.0;
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// Compute proportional component
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output += error * _kp;
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// Compute integral component if time has elapsed
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_integrator += (error * _ki) * delta_time;
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if (_integrator < -_imax) {
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_integrator = -_imax;
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} else if (_integrator > _imax) {
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_integrator = _imax;
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}
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output += _integrator;
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return output;
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}
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void
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APM_PI::reset_I()
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{
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_integrator = 0;
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}
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void
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APM_PI::load_gains()
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{
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_group.load();
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}
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void
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APM_PI::save_gains()
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{
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_group.save();
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}
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