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40 lines
1.1 KiB
40 lines
1.1 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/// @file AC_HELI_PID.h |
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/// @brief Helicopter Specific Rate PID algorithm, with EEPROM-backed storage of constants. |
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#ifndef __AC_HELI_PID_H__ |
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#define __AC_HELI_PID_H__ |
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#include <AP_Common.h> |
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#include <AP_Param.h> |
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#include <stdlib.h> |
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#include <math.h> |
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#include <AC_PID.h> |
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/// @class AC_HELI_PID |
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/// @brief Heli PID control class |
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class AC_HELI_PID : public AC_PID { |
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public: |
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/// Constructor for PID |
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AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float dt); |
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/// get_ff - return FeedForward Term |
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float get_ff(float requested_rate) const; |
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/// get_leaky_i - replacement for get_i but output is leaded at leak_rate |
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float get_leaky_i(float leak_rate); |
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// accessors |
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float ff() const { return _ff.get(); } |
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void ff(const float v) { _ff.set(v); } |
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static const struct AP_Param::GroupInfo var_info[]; |
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private: |
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AP_Float _ff; |
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}; |
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#endif // __AC_HELI_PID_H__
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