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41 lines
600 B
41 lines
600 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, bool calc_i) |
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{ |
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if(calc_i){ |
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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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} |
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return (float)error * _kp + _integrator; |
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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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