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- #pragma once
- /// @file AC_PD.h
- /// @brief Generic 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>
- /// @class AC_P
- /// @brief Object managing one P controller
- class AC_P {
- public:
- /// Constructor for P that saves its settings to EEPROM
- ///
- /// @note PIs must be named to avoid either multiple parameters with the
- /// same name, or an overly complex constructor.
- ///
- /// @param initial_p Initial value for the P term.
- ///
- AC_P(const float &initial_p = 0.0f)
- {
- AP_Param::setup_object_defaults(this, var_info);
- _kp = initial_p;
- }
- /// Iterate the P controller, 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).
- ///
- /// @returns The updated control output.
- ///
- float get_p(float error) const;
- /// Load gain properties
- ///
- void load_gains();
- /// Save gain properties
- ///
- void save_gains();
- /// @name parameter accessors
- //@{
- /// Overload the function call operator to permit relatively easy initialisation
- void operator() (const float p) { _kp = p; }
- // accessors
- AP_Float &kP() { return _kp; }
- const AP_Float &kP() const { return _kp; }
- void kP(const float v) { _kp.set(v); }
- static const struct AP_Param::GroupInfo var_info[];
- private:
- AP_Float _kp;
- };
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