Heli PID control class. More...
#include <AC_HELI_PID.h>
Inheritance diagram for AC_HELI_PID:
Collaboration diagram for AC_HELI_PID:
Public Member Functions | |
| AC_HELI_PID (float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float dt, float initial_ff) | |
| Constructor for PID. More... | |
| float | get_leaky_i (float leak_rate) |
| get_leaky_i - replacement for get_i but output is leaded at leak_rate More... | |
 Public Member Functions inherited from AC_PID | |
| AC_PID (float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float dt, float initial_ff=0) | |
| void | set_dt (float dt) |
| void | set_input_filter_all (float input) |
| void | set_input_filter_d (float input) |
| float | get_pid () |
| float | get_pi () |
| float | get_p () |
| float | get_i () |
| float | get_d () |
| float | get_ff (float requested_rate) |
| void | reset_I () |
| void | reset_filter () |
| void | load_gains () |
| void | save_gains () |
| void | operator() (float p, float i, float d, float imaxval, float input_filt_hz, float dt, float ffval=0) |
| operator function call for easy initialisation More... | |
| AP_Float & | kP () |
| AP_Float & | kI () |
| AP_Float & | kD () |
| AP_Float & | filt_hz () |
| float | imax () const |
| float | get_filt_alpha () const |
| float | ff () const |
| void | kP (const float v) |
| void | kI (const float v) |
| void | kD (const float v) |
| void | imax (const float v) |
| void | filt_hz (const float v) |
| void | ff (const float v) |
| float | get_integrator () const |
| void | set_integrator (float i) |
| void | set_desired_rate (float desired) |
| const DataFlash_Class::PID_Info & | get_pid_info (void) const |
Static Public Attributes | |
| static const struct AP_Param::GroupInfo | var_info [] |
| Static Public Attributes inherited from AC_PID | |
| static const struct AP_Param::GroupInfo | var_info [] |
Private Attributes | |
| AP_Float | _leak_min |
| float | _last_requested_rate |
Additional Inherited Members | |
| Protected Attributes inherited from AC_PID | |
| AP_Float | _kp |
| AP_Float | _ki |
| AP_Float | _kd |
| AP_Float | _imax |
| AP_Float | _filt_hz |
| AP_Float | _ff |
| struct AC_PID::ac_pid_flags | _flags |
| float | _dt |
| float | _integrator |
| float | _input |
| float | _derivative |
| DataFlash_Class::PID_Info | _pid_info |
Detailed Description
Heli PID control class.
Definition at line 16 of file AC_HELI_PID.h.
Constructor & Destructor Documentation
◆ AC_HELI_PID()
| AC_HELI_PID::AC_HELI_PID | ( | float | initial_p, |
| float | initial_i, | ||
| float | initial_d, | ||
| float | initial_imax, | ||
| float | initial_filt_hz, | ||
| float | dt, | ||
| float | initial_ff | ||
| ) |
Constructor for PID.
Definition at line 51 of file AC_HELI_PID.cpp.
Member Function Documentation
◆ get_leaky_i()
| float AC_HELI_PID::get_leaky_i | ( | float | leak_rate | ) |
get_leaky_i - replacement for get_i but output is leaded at leak_rate
Definition at line 60 of file AC_HELI_PID.cpp.
Referenced by AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch().
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Member Data Documentation
◆ _last_requested_rate
|
private |
Definition at line 30 of file AC_HELI_PID.h.
Referenced by AC_HELI_PID().
◆ _leak_min
|
private |
Definition at line 28 of file AC_HELI_PID.h.
Referenced by get_leaky_i().
◆ var_info
|
static |
Definition at line 25 of file AC_HELI_PID.h.
The documentation for this class was generated from the following files:
- libraries/AC_PID/AC_HELI_PID.h
- libraries/AC_PID/AC_HELI_PID.cpp
