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uncrustify libraries/PID/PID.h

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uncrustify 2012-08-16 23:22:44 -07:00 committed by Pat Hickey
parent 330c6c07e3
commit 13e0dd2c70
1 changed files with 85 additions and 67 deletions
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152
libraries/PID/PID.h
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@ -7,95 +7,113 @@
#define PID_h
#include <AP_Common.h>
#include <math.h> // for fabs()
#include <math.h> // for fabs()
/// @class PID
/// @brief Object managing one PID control
class PID {
public:
PID(const float &initial_p = 0.0,
const float &initial_i = 0.0,
const float &initial_d = 0.0,
const int16_t &initial_imax = 0)
PID(const float & initial_p = 0.0,
const float & initial_i = 0.0,
const float & initial_d = 0.0,
const int16_t & initial_imax = 0)
{
_kp = initial_p;
_ki = initial_i;
_kd = initial_d;
_imax = initial_imax;
}
_kp = initial_p;
_ki = initial_i;
_kd = initial_d;
_imax = initial_imax;
}
/// Iterate the PID, return the new control value
///
/// Positive error produces positive output.
///
/// @param error The measured error value
/// @param dt The time delta in milliseconds (note
/// that update interval cannot be more
/// than 65.535 seconds due to limited range
/// of the data type).
/// @param scaler An arbitrary scale factor
///
/// @returns The updated control output.
///
int32_t get_pid(int32_t error, float scaler = 1.0);
/// Iterate the PID, return the new control value
///
/// Positive error produces positive output.
///
/// @param error The measured error value
/// @param dt The time delta in milliseconds (note
/// that update interval cannot be more
/// than 65.535 seconds due to limited range
/// of the data type).
/// @param scaler An arbitrary scale factor
///
/// @returns The updated control output.
///
int32_t get_pid(int32_t error, float scaler = 1.0);
/// Reset the PID integrator
///
void reset_I();
/// Reset the PID integrator
///
void reset_I();
/// Load gain properties
///
void load_gains();
/// Load gain properties
///
void load_gains();
/// Save gain properties
///
void save_gains();
/// Save gain properties
///
void save_gains();
/// @name parameter accessors
//@{
/// @name parameter accessors
//@{
/// Overload the function call operator to permit relatively easy initialisation
void operator() (const float p,
const float i,
const float d,
const int16_t imaxval) {
_kp = p; _ki = i; _kd = d; _imax = imaxval;
}
/// Overload the function call operator to permit relatively easy initialisation
void operator () (const float p,
const float i,
const float d,
const int16_t imaxval) {
_kp = p; _ki = i; _kd = d; _imax = imaxval;
}
float kP() const { return _kp.get(); }
float kI() const { return _ki.get(); }
float kD() const { return _kd.get(); }
int16_t imax() const { return _imax.get(); }
float kP() const {
return _kp.get();
}
float kI() const {
return _ki.get();
}
float kD() const {
return _kd.get();
}
int16_t imax() const {
return _imax.get();
}
void kP(const float v) { _kp.set(v); }
void kI(const float v) { _ki.set(v); }
void kD(const float v) { _kd.set(v); }
void imax(const int16_t v) { _imax.set(abs(v)); }
void kP(const float v) {
_kp.set(v);
}
void kI(const float v) {
_ki.set(v);
}
void kD(const float v) {
_kd.set(v);
}
void imax(const int16_t v) {
_imax.set(abs(v));
}
float get_integrator() const { return _integrator; }
float get_integrator() const {
return _integrator;
}
static const struct AP_Param::GroupInfo var_info[];
static const struct AP_Param::GroupInfo var_info[];
private:
AP_Float _kp;
AP_Float _ki;
AP_Float _kd;
AP_Int16 _imax;
AP_Float _kp;
AP_Float _ki;
AP_Float _kd;
AP_Int16 _imax;
float _integrator; ///< integrator value
int32_t _last_error; ///< last error for derivative
float _last_derivative; ///< last derivative for low-pass filter
uint32_t _last_t;
float _integrator; ///< integrator value
int32_t _last_error; ///< last error for derivative
float _last_derivative; ///< last derivative for low-pass filter
uint32_t _last_t;
int32_t _get_pid(int32_t error, uint16_t dt, float scaler);
int32_t _get_pid(int32_t error, uint16_t dt, float scaler);
/// Low pass filter cut frequency for derivative calculation.
///
/// 20 Hz becasue anything over that is probably noise, see
/// http://en.wikipedia.org/wiki/Low-pass_filter.
///
static const uint8_t _fCut = 20;
/// Low pass filter cut frequency for derivative calculation.
///
/// 20 Hz becasue anything over that is probably noise, see
/// http://en.wikipedia.org/wiki/Low-pass_filter.
///
static const uint8_t _fCut = 20;
};
#endif