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48 lines
732 B
48 lines
732 B
// -*- 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, float 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) * 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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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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