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Code Issues Releases Activity

LP-289 cleaned up PIDControlNE::UpdateParameters()

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This commit is contained in:
paul Jewell 2016-12-10 14:07:11 +01:00
parent c723a06e93
commit a19bd40259
1 changed files with 32 additions and 17 deletions
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49
flight/modules/PathFollower/pidcontrolne.cpp
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@ -7,7 +7,8 @@
* @{
*
* @file PIDControlNE.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
* @brief Executes PID control loops for NE directions
*
* @see The GNU Public License (GPL) Version 3
@ -79,26 +80,38 @@ void PIDControlNE::Activate()
void PIDControlNE::UpdateParameters(float kp, float ki, float kd, float beta, float dT, float velocityMax)
{
// pid_configure(&PID, kp, ki, kd, ilimit);
float Ti = kp / ki;
float Td = kd / kp;
float Tt = (Ti + Td) / 2.0f;
float kt = 1.0f / Tt;
float u0 = 0.0f;
float N = 10.0f;
float Tf = Td / N;
float Td; // Derivative time constant
float Ti; // Integral time constant
float kt; // Feedback gain for integral windup avoidance
float N = 10.0f; // N is the factor used to determine the
// time constant for derivative filtering
// Why 10? Maybe should be configurable?
float Tf; // Low pass filter time constant for derivative filtering
if (ki < 1e-6f) {
// Avoid Ti being infinite
Ti = 1e6f;
// Tt antiwindup time constant - we don't need antiwindup with no I term
Tt = 1e6f;
kt = 0.0f;
float u0 = 0.0f;
// Define Td, handling zero kp term (for I or ID controller)
if (kp < 1e-6f) {
Td = 1e6f;
} else {
Td = kd / kp;
}
// Define Ti, Tt and kt, handling zero ki term (for P or PD controller)
if (ki < 1e-6f) { // Avoid Ti being infinite
kt = 0.0f;
} else {
Ti = kp / ki;
kt = 1.0f / Ti;
}
// Define Tf, according to controller type
if (kd < 1e-6f) {
// PI Controller
Tf = Ti / N;
// PI Controller or P Controller
Tf = 0; // Originally this: (Ti / N) - which creates a D term from
// the integral time constant!
} else {
Tf = Td / N;
}
if (beta > 1.0f) {
@ -107,6 +120,8 @@ void PIDControlNE::UpdateParameters(float kp, float ki, float kd, float beta, fl
beta = 0.4f;
}
pid2_configure(&PIDvel[0], kp, ki, kd, Tf, kt, dT, beta, u0, 0.0f, 1.0f);
pid2_configure(&PIDvel[1], kp, ki, kd, Tf, kt, dT, beta, u0, 0.0f, 1.0f);
deltaTime = dT;