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57 lines
1.5 KiB
57 lines
1.5 KiB
#pragma once |
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#include <AP_AHRS/AP_AHRS.h> |
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#include <AP_Common/AP_Common.h> |
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#include <AP_Vehicle/AP_Vehicle.h> |
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#include "AP_AutoTune.h" |
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#include <DataFlash/DataFlash.h> |
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#include <AP_Math/AP_Math.h> |
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class AP_RollController { |
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public: |
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AP_RollController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash) : |
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aparm(parms), |
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autotune(gains, AP_AutoTune::AUTOTUNE_ROLL, parms, _dataflash), |
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_ahrs(ahrs) |
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{ |
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AP_Param::setup_object_defaults(this, var_info); |
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} |
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int32_t get_rate_out(float desired_rate, float scaler); |
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int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator); |
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void reset_I(); |
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void autotune_start(void) { autotune.start(); } |
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void autotune_restore(void) { autotune.stop(); } |
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const DataFlash_Class::PID_Info& get_pid_info(void) const { return _pid_info; } |
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static const struct AP_Param::GroupInfo var_info[]; |
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// tuning accessors |
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void kP(float v) { gains.P.set(v); } |
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void kI(float v) { gains.I.set(v); } |
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void kD(float v) { gains.D.set(v); } |
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void kFF(float v) { gains.FF.set(v); } |
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AP_Float &kP(void) { return gains.P; } |
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AP_Float &kI(void) { return gains.I; } |
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AP_Float &kD(void) { return gains.D; } |
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AP_Float &kFF(void) { return gains.FF; } |
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private: |
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const AP_Vehicle::FixedWing &aparm; |
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AP_AutoTune::ATGains gains; |
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AP_AutoTune autotune; |
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uint32_t _last_t; |
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float _last_out; |
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DataFlash_Class::PID_Info _pid_info; |
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int32_t _get_rate_out(float desired_rate, float scaler, bool disable_integrator); |
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AP_AHRS &_ahrs; |
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};
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