mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-01 09:24:10 +01:00
8d2f4722d7
1. Disable velocity pid loop when altvario is not active 2. Add sanity boundf to ensure max min are inforced.
109 lines
3.5 KiB
C++
109 lines
3.5 KiB
C++
/**
|
|
******************************************************************************
|
|
* @addtogroup OpenPilotModules OpenPilot Modules
|
|
* @{
|
|
* @addtogroup PathFollower PID Control implementation
|
|
* @brief PID Controller for down direction
|
|
* @{
|
|
*
|
|
* @file PIDControlDown.h
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
|
|
* @brief Executes control loop for down direction
|
|
*
|
|
* @see The GNU Public License (GPL) Version 3
|
|
*
|
|
*****************************************************************************/
|
|
/*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
*/
|
|
#ifndef PIDCONTROLDOWN_H
|
|
#define PIDCONTROLDOWN_H
|
|
extern "C" {
|
|
#include <pid.h>
|
|
#include <stabilizationdesired.h>
|
|
}
|
|
#include "pidcontroldowncallback.h"
|
|
|
|
class PIDControlDown {
|
|
public:
|
|
PIDControlDown();
|
|
~PIDControlDown();
|
|
void Initialize(PIDControlDownCallback *callback);
|
|
void SetThrustLimits(float min_thrust, float max_thrust);
|
|
void Deactivate();
|
|
void Activate();
|
|
bool IsActive()
|
|
{
|
|
return mActive;
|
|
}
|
|
void UpdateParameters(float kp, float ki, float kd, float beta, float dT, float velocityMax);
|
|
void UpdateNeutralThrust(float neutral);
|
|
void UpdateVelocitySetpoint(float setpoint);
|
|
void RateLimit(float *spDesired, float *spCurrent, float rateLimit);
|
|
void UpdateVelocityState(float pv);
|
|
float GetVelocityDesired(void);
|
|
float GetDownCommand(void);
|
|
void UpdatePositionalParameters(float kp);
|
|
void UpdatePositionState(float pvDown);
|
|
void UpdatePositionSetpoint(float setpointDown);
|
|
void ControlPosition();
|
|
void ControlPositionWithPath(struct path_status *progress);
|
|
void UpdateBrakeVelocity(float startingVelocity, float dT, float brakeRate, float currentVelocity, float *updatedVelocity);
|
|
void UpdateVelocityStateWithBrake(float pvDown, float path_time, float brakeRate);
|
|
void DisableNeutralThrustCalc()
|
|
{
|
|
mAllowNeutralThrustCalc = false;
|
|
}
|
|
void EnableNeutralThrustCalc()
|
|
{
|
|
mAllowNeutralThrustCalc = true;
|
|
}
|
|
|
|
private:
|
|
void setup_neutralThrustCalc();
|
|
void run_neutralThrustCalc();
|
|
|
|
struct pid2 PID;
|
|
float deltaTime;
|
|
float mVelocitySetpointTarget;
|
|
float mVelocitySetpointCurrent;
|
|
float mVelocityState;
|
|
float mDownCommand;
|
|
PIDControlDownCallback *mCallback;
|
|
float mNeutral;
|
|
float mVelocityMax;
|
|
struct pid PIDpos;
|
|
float mPositionSetpointTarget;
|
|
float mPositionState;
|
|
float mMinThrust;
|
|
float mMaxThrust;
|
|
|
|
struct NeutralThrustEstimation {
|
|
uint32_t count;
|
|
float sum;
|
|
float average;
|
|
float correction;
|
|
float min;
|
|
float max;
|
|
bool start_sampling;
|
|
bool have_correction;
|
|
};
|
|
struct NeutralThrustEstimation neutralThrustEst;
|
|
bool mActive;
|
|
bool mAllowNeutralThrustCalc;
|
|
};
|
|
|
|
#endif // PIDCONTROLDOWN_H
|