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81 lines
3.0 KiB
C
81 lines
3.0 KiB
C
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup PathFollower CONTROL interface class
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* @brief PID Controler for NE Class definition
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* @{
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*
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* @file pidcontrolne.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
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* @brief Executes pid control loop for NE
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PIDCONTROLNE_H
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#define PIDCONTROLNE_H
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extern "C" {
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#include <pid.h>
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}
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#include "pathfollowerfsm.h"
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class PIDControlNE {
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public:
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PIDControlNE();
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~PIDControlNE();
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void Initialize();
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void Deactivate();
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void Activate();
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void UpdateParameters(float kp, float ki, float kd, __attribute__((unused)) float ilimit, float dT, float velocityMax);
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void UpdatePositionalParameters(float kp);
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void UpdatePositionState(float pvNorth, float pvEast);
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void UpdatePositionSetpoint(float setpointNorth, float setpointEast);
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void UpdateVelocitySetpoint(float setpointNorth, float setpointEast);
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// void RateLimit(float *spDesired, float *spCurrent, float rateLimit);
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void UpdateVelocityState(float pvNorth, float pvEast);
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void UpdateCommandParameters(float minCommand, float maxCommand, float velocityFeedforward);
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void ControlPosition();
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void ControlPositionWithPath(struct path_status *progress);
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void GetNECommand(float *northCommand, float *eastCommand);
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void GetVelocityDesired(float *north, float *east);
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void UpdateBrakeVelocity(float startingVelocity, float dT, float brakeRate, float currentVelocity, float *updatedVelocity);
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void UpdateVelocityStateWithBrake(float pvNorth, float pvEast, float path_time, float brakeRate);
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private:
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struct pid2 PIDvel[2]; // North, East
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float mVelocitySetpointTarget[2];
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float mVelocityState[2];
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struct pid PIDposH[2];
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float mPositionSetpointTarget[2];
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float mPositionState[2];
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float deltaTime;
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float mVelocitySetpointCurrent[2];
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float mNECommand;
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float mNeutral;
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float mVelocityMax;
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float mMinCommand;
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float mMaxCommand;
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float mVelocityFeedforward;
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uint8_t mActive;
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};
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#endif // PIDCONTROLNE_H
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