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96 lines
3.2 KiB
C++
96 lines
3.2 KiB
C++
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup PathFollower PID Control implementation
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* @brief PID Controller for down direction
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* @{
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*
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* @file PIDControlDown.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
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* @brief Executes control loop for down direction
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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 PIDCONTROLDOWN_H
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#define PIDCONTROLDOWN_H
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extern "C" {
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#include <pid.h>
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#include <stabilizationdesired.h>
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}
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#include "pidcontroldowncallback.h"
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class PIDControlDown {
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public:
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PIDControlDown();
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~PIDControlDown();
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void Initialize(PIDControlDownCallback *callback);
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void SetThrustLimits(float min_thrust, float max_thrust);
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void Deactivate();
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void Activate();
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void UpdateParameters(float kp, float ki, float kd, float beta, float dT, float velocityMax);
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void UpdateNeutralThrust(float neutral);
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void UpdateVelocitySetpoint(float setpoint);
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void RateLimit(float *spDesired, float *spCurrent, float rateLimit);
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void UpdateVelocityState(float pv);
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float GetVelocityDesired(void);
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float GetDownCommand(void);
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void UpdatePositionalParameters(float kp);
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void UpdatePositionState(float pvDown);
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void UpdatePositionSetpoint(float setpointDown);
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void ControlPosition();
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void ControlPositionWithPath(struct path_status *progress);
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void UpdateBrakeVelocity(float startingVelocity, float dT, float brakeRate, float currentVelocity, float *updatedVelocity);
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void UpdateVelocityStateWithBrake(float pvDown, float path_time, float brakeRate);
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private:
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void setup_neutralThrustCalc();
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void run_neutralThrustCalc();
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struct pid2 PID;
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float deltaTime;
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float mVelocitySetpointTarget;
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float mVelocitySetpointCurrent;
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float mVelocityState;
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float mDownCommand;
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PIDControlDownCallback *mCallback;
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float mNeutral;
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float mVelocityMax;
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struct pid PIDpos;
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float mPositionSetpointTarget;
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float mPositionState;
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float mMinThrust;
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float mMaxThrust;
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uint8_t mActive;
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struct NeutralThrustEstimation {
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uint32_t count;
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float sum;
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float average;
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float correction;
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float min;
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float max;
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bool start_sampling;
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bool have_correction;
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};
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struct NeutralThrustEstimation neutralThrustEst;
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};
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#endif // PIDCONTROLDOWN_H
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