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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/PID/PID.h Source File</title>
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<h1>/home/jgoppert/Projects/ap/libraries/PID/PID.h</h1> </div>
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<a href="_p_i_d_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>
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<a name="l00002"></a>00002
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<a name="l00005"></a>00005
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<a name="l00006"></a>00006 <span class="preprocessor">#ifndef PID_h</span>
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<a name="l00007"></a>00007 <span class="preprocessor"></span><span class="preprocessor">#define PID_h</span>
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<a name="l00008"></a>00008 <span class="preprocessor"></span>
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<a name="l00009"></a>00009 <span class="preprocessor">#include <stdint.h></span>
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<a name="l00010"></a>00010 <span class="preprocessor">#include <<a class="code" href="_a_p___e_e_p_r_o_m_b_8h.html" title="AP_EEPROMB manager.">AP_EEPROMB.h</a>></span>
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<a name="l00011"></a>00011
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<a name="l00014"></a><a class="code" href="class_p_i_d.html">00014</a> <span class="keyword">class </span><a class="code" href="class_p_i_d.html" title="Object managing one PID control.">PID</a> {
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<a name="l00015"></a>00015 <span class="keyword">public</span>:
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<a name="l00017"></a>00017 <span class="comment">// EEProm Storage Type</span>
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<a name="l00018"></a><a class="code" href="class_p_i_d.html#ab205c894ccd87f7f97c5d87c137df89e">00018</a> <span class="keyword">enum</span> <a class="code" href="class_p_i_d.html#ab205c894ccd87f7f97c5d87c137df89e">storage_t</a>
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<a name="l00019"></a>00019 {
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<a name="l00020"></a><a class="code" href="class_p_i_d.html#ab205c894ccd87f7f97c5d87c137df89eaaf3ae4177b842acac49ae8340f62a915">00020</a> STORE_OFF,
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<a name="l00021"></a><a class="code" href="class_p_i_d.html#ab205c894ccd87f7f97c5d87c137df89ea298eec9e3b8f13f44adbb491bcfb0d9a">00021</a> STORE_EEPROM_FLOAT,
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<a name="l00022"></a><a class="code" href="class_p_i_d.html#ab205c894ccd87f7f97c5d87c137df89ea6f777cc5fe5af30de1ab385cd9354e12">00022</a> <a class="code" href="class_p_i_d.html#ab205c894ccd87f7f97c5d87c137df89ea6f777cc5fe5af30de1ab385cd9354e12">STORE_EEPROM_UINT16</a>
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<a name="l00023"></a>00023 } <a class="code" href="class_p_i_d.html#af403c0149432f89b6f1f2117007b2f9f">_storage</a>;
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<a name="l00024"></a>00024
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<a name="l00031"></a><a class="code" href="class_p_i_d.html#a0311b6f7de348499ce24e53ba353514a">00031</a> <a class="code" href="class_p_i_d.html#a0311b6f7de348499ce24e53ba353514a">PID</a>() :
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<a name="l00032"></a>00032 <a class="code" href="class_p_i_d.html#af403c0149432f89b6f1f2117007b2f9f">_storage</a>(<a class="code" href="class_p_i_d.html#ab205c894ccd87f7f97c5d87c137df89eaaf3ae4177b842acac49ae8340f62a915">STORE_OFF</a>),
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<a name="l00033"></a>00033 _address(0),
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<a name="l00034"></a>00034 _gain_array(&_local_gains[0])
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<a name="l00035"></a>00035 {}
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<a name="l00036"></a>00036
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<a name="l00045"></a><a class="code" href="class_p_i_d.html#a28a69de98b67fbf39417bee5dbe17db2">00045</a> <a class="code" href="class_p_i_d.html#a0311b6f7de348499ce24e53ba353514a">PID</a>(uint16_t <a class="code" href="class_p_i_d.html#a1116e2ccdf958659f3575b8aaa2f1c36">address</a>, <a class="code" href="class_p_i_d.html#ab205c894ccd87f7f97c5d87c137df89e">storage_t</a> storage = <a class="code" href="class_p_i_d.html#ab205c894ccd87f7f97c5d87c137df89ea6f777cc5fe5af30de1ab385cd9354e12">STORE_EEPROM_UINT16</a>) :
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<a name="l00046"></a>00046 <a class="code" href="class_p_i_d.html#af403c0149432f89b6f1f2117007b2f9f">_storage</a>(storage),
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<a name="l00047"></a>00047 _address(address),
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<a name="l00048"></a>00048 _gain_array(&_local_gains[0])
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<a name="l00049"></a>00049 {
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<a name="l00050"></a>00050 <a class="code" href="class_p_i_d.html#a3e8b0cc1984ac60db07cf55f45b71485">load_gains</a>();
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<a name="l00051"></a>00051 }
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<a name="l00052"></a>00052
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<a name="l00061"></a>00061
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<a name="l00062"></a><a class="code" href="class_p_i_d.html#af42f6af709ea5f484bcb92f43b041a1d">00062</a> <a class="code" href="class_p_i_d.html#a0311b6f7de348499ce24e53ba353514a">PID</a>(<span class="keywordtype">float</span> *gain_array) :
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<a name="l00063"></a>00063 <a class="code" href="class_p_i_d.html#af403c0149432f89b6f1f2117007b2f9f">_storage</a>(<a class="code" href="class_p_i_d.html#ab205c894ccd87f7f97c5d87c137df89eaaf3ae4177b842acac49ae8340f62a915">STORE_OFF</a>),
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<a name="l00064"></a>00064 _gain_array(gain_array)
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<a name="l00065"></a>00065 {
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<a name="l00066"></a>00066 }
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<a name="l00067"></a>00067
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<a name="l00081"></a>00081 <span class="keywordtype">long</span> <a class="code" href="class_p_i_d.html#a485849289cc63b5e8c62f546912e461a">get_pid</a>(int32_t error, uint16_t dt, <span class="keywordtype">float</span> scaler = 1.0);
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<a name="l00082"></a>00082
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<a name="l00085"></a><a class="code" href="class_p_i_d.html#ab5b56004fca57d7bd2a580a743775b74">00085</a> <span class="keywordtype">void</span> <a class="code" href="class_p_i_d.html#ab5b56004fca57d7bd2a580a743775b74">reset_I</a>() {
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<a name="l00086"></a>00086 _integrator = 0;
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<a name="l00087"></a>00087 _last_error = 0;
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<a name="l00088"></a>00088 _last_derivative = 0;
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<a name="l00089"></a>00089 }
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<a name="l00090"></a>00090
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<a name="l00093"></a>00093 <span class="keywordtype">void</span> <a class="code" href="class_p_i_d.html#a3e8b0cc1984ac60db07cf55f45b71485">load_gains</a>();
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<a name="l00094"></a>00094
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<a name="l00097"></a>00097 <span class="keywordtype">void</span> <a class="code" href="class_p_i_d.html#a7fd5ea68386a5fdff983144decf552e6">save_gains</a>();
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<a name="l00098"></a>00098
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<a name="l00100"></a>00100
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<a name="l00101"></a><a class="code" href="class_p_i_d.html#a2dd3c39db6d37f4717bd0c492dc375fc">00101</a> <span class="keywordtype">float</span> <a class="code" href="class_p_i_d.html#a2dd3c39db6d37f4717bd0c492dc375fc">kP</a>() { <span class="keywordflow">return</span> _gain_array[0]; }
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<a name="l00102"></a><a class="code" href="class_p_i_d.html#a7f502cac90ea0dfcf82c15df85c8c2e2">00102</a> <span class="keywordtype">float</span> <a class="code" href="class_p_i_d.html#a7f502cac90ea0dfcf82c15df85c8c2e2">kI</a>() { <span class="keywordflow">return</span> _gain_array[1]; }
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<a name="l00103"></a><a class="code" href="class_p_i_d.html#ada7ca5447359196169af5141acdd767a">00103</a> <span class="keywordtype">float</span> <a class="code" href="class_p_i_d.html#ada7ca5447359196169af5141acdd767a">kD</a>() { <span class="keywordflow">return</span> _gain_array[2]; }
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<a name="l00104"></a><a class="code" href="class_p_i_d.html#ae95642565b4b814ad8ef7f121168f749">00104</a> <span class="keywordtype">float</span> <a class="code" href="class_p_i_d.html#ae95642565b4b814ad8ef7f121168f749">imax</a>() { <span class="keywordflow">return</span> _gain_array[3]; }
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<a name="l00105"></a>00105
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<a name="l00106"></a><a class="code" href="class_p_i_d.html#a6a455ccfa83bca050ee21a41e5d26604">00106</a> <span class="keywordtype">void</span> <a class="code" href="class_p_i_d.html#a6a455ccfa83bca050ee21a41e5d26604">kP</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> v) { _gain_array[0] = v; }
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<a name="l00107"></a><a class="code" href="class_p_i_d.html#aac61f98c9ae29d0321cfe004923ba793">00107</a> <span class="keywordtype">void</span> <a class="code" href="class_p_i_d.html#aac61f98c9ae29d0321cfe004923ba793">kI</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> v) { _gain_array[1] = v; }
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<a name="l00108"></a><a class="code" href="class_p_i_d.html#aca5be548cd47219d246e9509bd606bd1">00108</a> <span class="keywordtype">void</span> <a class="code" href="class_p_i_d.html#aca5be548cd47219d246e9509bd606bd1">kD</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> v) { _gain_array[2] = v; }
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<a name="l00109"></a>00109 <span class="keywordtype">void</span> <a class="code" href="class_p_i_d.html#ae95642565b4b814ad8ef7f121168f749">imax</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> v);
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<a name="l00110"></a>00110
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<a name="l00111"></a><a class="code" href="class_p_i_d.html#a1116e2ccdf958659f3575b8aaa2f1c36">00111</a> <span class="keywordtype">void</span> <a class="code" href="class_p_i_d.html#a1116e2ccdf958659f3575b8aaa2f1c36">address</a>(<span class="keyword">const</span> uint16_t v) { _address = v; }
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<a name="l00112"></a>00112
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<a name="l00113"></a>00113 <span class="comment">// one-shot operator for setting all of the gain properties at once</span>
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<a name="l00114"></a>00114 <span class="comment">//void operator ()(const float p, const float i, const float d, const float max)</span>
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<a name="l00115"></a>00115 <span class="comment">//{ kP(p); kI(i); kD(d); imax(max); }</span>
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<a name="l00117"></a>00117 <span class="comment"></span>
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<a name="l00118"></a><a class="code" href="class_p_i_d.html#a10c0e53dc0b52ebb69bba0c8ac1db0aa">00118</a> <span class="keywordtype">float</span> <a class="code" href="class_p_i_d.html#a10c0e53dc0b52ebb69bba0c8ac1db0aa">get_integrator</a>() { <span class="keywordflow">return</span> _integrator; }
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<a name="l00119"></a>00119
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<a name="l00120"></a>00120 <span class="keyword">private</span>:
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<a name="l00121"></a>00121 <a class="code" href="class_a_p___e_e_p_r_o_m_b.html" title="Object for reading and writing to the EEPROM.">AP_EEPROMB</a> _ee;
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<a name="l00122"></a>00122 uint16_t _address;
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<a name="l00123"></a>00123 <span class="keywordtype">float</span> *_gain_array;
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<a name="l00124"></a>00124
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<a name="l00125"></a>00125 <span class="keywordtype">float</span> _local_gains[4];
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<a name="l00126"></a>00126
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<a name="l00127"></a>00127 <span class="keywordtype">float</span> _integrator;
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<a name="l00128"></a>00128 int32_t _last_error;
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<a name="l00129"></a>00129 <span class="keywordtype">float</span> _last_derivative;
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<a name="l00130"></a>00130
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<a name="l00136"></a>00136 <span class="keyword">static</span> <span class="keyword">const</span> uint8_t _RC = 20;
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<a name="l00137"></a>00137 };
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<a name="l00138"></a>00138
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<a name="l00139"></a>00139 <span class="preprocessor">#endif</span>
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</pre></div></div>
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<hr class="footer"/><address class="footer"><small>Generated on Sun Dec 26 2010 21:58:34 for ArduPilot Libraries by
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<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.1 </small></address>
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