AC_P Class Reference

Object managing one P controller. More...

#include <AC_P.h>

Collaboration diagram for AC_P:

Public Member Functions
	AC_P (const float &initial_p=0.0f)
float	get_p (float error) const
void	load_gains ()
void	save_gains ()

parameter accessors
static const struct AP_Param::GroupInfo	var_info []
AP_Float	_kp
void	operator() (const float p)
	Overload the function call operator to permit relatively easy initialisation. More...
AP_Float &	kP ()
const AP_Float &	kP () const
void	kP (const float v)

Detailed Description

Object managing one P controller.

Definition at line 13 of file AC_P.h.

Constructor & Destructor Documentation

AC_P()

AC_P::AC_P ( const float &  initial_p = 0.0f )

inline

Constructor for P that saves its settings to EEPROM

Note

PIs must be named to avoid either multiple parameters with the same name, or an overly complex constructor.

Parameters

initial_p

Initial value for the P term.

Definition at line 23 of file AC_P.h.

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Member Function Documentation

get_p()

float AC_P::get_p

(

float

error

)

const

Iterate the P controller, return the new control value

Positive error produces positive output.

Parameters

error	The measured error value
dt	The time delta in milliseconds (note that update interval cannot be more than 65.535 seconds due to limited range of the data type).

Returns

The updated control output.

Definition at line 15 of file AC_P.cpp.

Referenced by AC_P(), AR_AttitudeControl::get_steering_out_heading(), AC_AttitudeControl::input_shaping_rate_predictor(), and AC_PosControl::run_z_controller().

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kP() [1/3]

AP_Float& AC_P::kP ( )

inline

Definition at line 58 of file AC_P.h.

Referenced by AC_AttitudeControl_Sub::AC_AttitudeControl_Sub(), AC_WPNav::advance_wp_target_along_track(), AC_Loiter::calc_desired_velocity(), AC_PosControl::calc_leash_length_xy(), AC_PosControl::calc_leash_length_z(), AC_PosControl::get_stopping_point_xy(), AC_PosControl::get_stopping_point_z(), AC_AttitudeControl::max_angle_step_bf_pitch(), AC_AttitudeControl::max_angle_step_bf_roll(), AC_AttitudeControl::max_angle_step_bf_yaw(), AC_PosControl::run_xy_controller(), AC_PosControl::run_z_controller(), AC_AttitudeControl::thrust_heading_rotation_angles(), and AC_AttitudeControl::update_ang_vel_target_from_att_error().

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kP() [2/3]

const AP_Float& AC_P::kP ( ) const

inline

Definition at line 59 of file AC_P.h.

kP() [3/3]

void AC_P::kP ( const float  v )

inline

Definition at line 60 of file AC_P.h.

load_gains()

void AC_P::load_gains

(

)

Load gain properties

Definition at line 20 of file AC_P.cpp.

Referenced by AC_P().

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operator()()

void AC_P::operator() ( const float  p )

inline

Overload the function call operator to permit relatively easy initialisation.

Definition at line 55 of file AC_P.h.

save_gains()

void AC_P::save_gains

(

)

Save gain properties

Definition at line 25 of file AC_P.cpp.

Referenced by AC_P().

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Member Data Documentation

_kp

AP_Float AC_P::_kp

private

Definition at line 65 of file AC_P.h.

Referenced by AC_P(), get_p(), kP(), load_gains(), operator()(), and save_gains().

var_info

const AP_Param::GroupInfo AC_P::var_info

static

Initial value:

= {
    
    
    
    AP_GROUPINFO("P",    0, AC_P, _kp, 0),
    AP_GROUPEND
}

Definition at line 62 of file AC_P.h.

Referenced by AC_P().

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The documentation for this class was generated from the following files:

• libraries/AC_PID/AC_P.h
• libraries/AC_PID/AC_P.cpp