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55 lines
1.8 KiB
55 lines
1.8 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/// @file AC_HELI_PID.cpp |
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/// @brief Generic PID algorithm |
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#include <AP_Math.h> |
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#include "AC_HELI_PID.h" |
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const AP_Param::GroupInfo AC_HELI_PID::var_info[] PROGMEM = { |
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// @Param: P |
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// @DisplayName: PID Proportional Gain |
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// @Description: P Gain which produces an output value that is proportional to the current error value |
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AP_GROUPINFO("P", 0, AC_HELI_PID, _kp, 0), |
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// @Param: I |
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// @DisplayName: PID Integral Gain |
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// @Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error |
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AP_GROUPINFO("I", 1, AC_HELI_PID, _ki, 0), |
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// @Param: D |
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// @DisplayName: PID Derivative Gain |
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// @Description: D Gain which produces an output that is proportional to the rate of change of the error |
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AP_GROUPINFO("D", 2, AC_HELI_PID, _kd, 0), |
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// @Param: IMAX |
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// @DisplayName: PID Integral Maximum |
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// @Description: The maximum/minimum value that the I term can output |
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AP_GROUPINFO("IMAX", 3, AC_HELI_PID, _imax, 0), |
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// @Param: FC |
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// @DisplayName: PID+FF FeedForward Gain |
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// @Description: FF Gain which produces an output value that is proportional to the current error value |
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AP_GROUPINFO("FF", 4, AC_HELI_PID, _ff, 0), |
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AP_GROUPEND |
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}; |
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float AC_HELI_PID::get_ff(float requested_rate) const |
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{ |
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return (float)requested_rate * _ff; |
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} |
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// This is an integrator which tends to decay to zero naturally |
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// if the error is zero. |
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float AC_HELI_PID::get_leaky_i(float error, float dt, float leak_rate) |
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{ |
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if((_ki != 0) && (dt != 0)){ |
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_integrator -= (float)_integrator * leak_rate; |
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_integrator += ((float)error * _ki) * dt; |
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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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return _integrator; |
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} |
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return 0; |
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}
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