Copter PID control class. More...

#include <AC_PID.h>

Inheritance diagram for AC_PID:

Collaboration diagram for AC_PID:

Classes
struct	ac_pid_flags

Public Member Functions
	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 []

Protected Attributes
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

Copter PID control class.

Definition at line 17 of file AC_PID.h.

Constructor & Destructor Documentation

◆ AC_PID()

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`
	)

Definition at line 46 of file AC_PID.cpp.

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Member Function Documentation

◆ ff() [1/2]

float AC_PID::ff ( ) const

inline

Definition at line 66 of file AC_PID.h.

◆ ff() [2/2]

void AC_PID::ff ( const float v )

inline

Definition at line 74 of file AC_PID.h.

◆ filt_hz() [1/2]

AP_Float& AC_PID::filt_hz ( )

inline

Definition at line 63 of file AC_PID.h.

Referenced by AC_PID(), and imax().

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◆ filt_hz() [2/2]

void AC_PID::filt_hz ( const float v )

Definition at line 76 of file AC_PID.cpp.

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◆ get_d()

float AC_PID::get_d ( )

Definition at line 155 of file AC_PID.cpp.

Referenced by get_pid(), AR_AttitudeControl::get_steering_out_rate(), AR_AttitudeControl::get_throttle_out_speed(), loop(), AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(), AC_AttitudeControl::rate_target_to_motor_pitch(), AC_AttitudeControl::rate_target_to_motor_roll(), AC_AttitudeControl_Heli::rate_target_to_motor_yaw(), AC_AttitudeControl::rate_target_to_motor_yaw(), AC_PosControl::run_z_controller(), and AP_Winch_Servo::update().

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◆ get_ff()

float AC_PID::get_ff ( float requested_rate )

Definition at line 162 of file AC_PID.cpp.

Referenced by AR_AttitudeControl::get_steering_out_rate(), AR_AttitudeControl::get_throttle_out_speed(), AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(), AC_AttitudeControl::rate_target_to_motor_pitch(), AC_AttitudeControl::rate_target_to_motor_roll(), AC_AttitudeControl_Heli::rate_target_to_motor_yaw(), and AC_AttitudeControl::rate_target_to_motor_yaw().

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◆ get_filt_alpha()

float AC_PID::get_filt_alpha ( ) const

Definition at line 217 of file AC_PID.cpp.

Referenced by imax(), AC_AttitudeControl::max_rate_step_bf_pitch(), AC_AttitudeControl::max_rate_step_bf_roll(), AC_AttitudeControl::max_rate_step_bf_yaw(), set_input_filter_all(), and set_input_filter_d().

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◆ get_i()

float AC_PID::get_i ( )

Definition at line 140 of file AC_PID.cpp.

Referenced by get_pi(), get_pid(), AR_AttitudeControl::get_steering_out_rate(), AR_AttitudeControl::get_throttle_out_speed(), loop(), AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(), AC_AttitudeControl::rate_target_to_motor_pitch(), AC_AttitudeControl::rate_target_to_motor_roll(), AC_AttitudeControl_Heli::rate_target_to_motor_yaw(), AC_AttitudeControl::rate_target_to_motor_yaw(), AC_PosControl::run_z_controller(), and AP_Winch_Servo::update().

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◆ get_integrator()

float AC_PID::get_integrator ( ) const

inline

Definition at line 76 of file AC_PID.h.

Referenced by AR_AttitudeControl::get_steering_out_rate(), AR_AttitudeControl::get_throttle_out_speed(), AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(), AC_AttitudeControl::rate_target_to_motor_pitch(), AC_AttitudeControl::rate_target_to_motor_roll(), AC_AttitudeControl_Heli::rate_target_to_motor_yaw(), AC_AttitudeControl::rate_target_to_motor_yaw(), AC_PosControl::run_z_controller(), and AP_Winch_Servo::update().

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◆ get_p()

float AC_PID::get_p ( )

Definition at line 134 of file AC_PID.cpp.

Referenced by get_pi(), get_pid(), AR_AttitudeControl::get_steering_out_rate(), AR_AttitudeControl::get_throttle_out_speed(), loop(), AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(), AC_AttitudeControl::rate_target_to_motor_pitch(), AC_AttitudeControl::rate_target_to_motor_roll(), AC_AttitudeControl_Heli::rate_target_to_motor_yaw(), AC_AttitudeControl::rate_target_to_motor_yaw(), AC_PosControl::run_z_controller(), and AP_Winch_Servo::update().

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◆ get_pi()

float AC_PID::get_pi ( )

Definition at line 169 of file AC_PID.cpp.

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◆ get_pid()

float AC_PID::get_pid ( )

Definition at line 174 of file AC_PID.cpp.

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◆ get_pid_info()

const DataFlash_Class::PID_Info& AC_PID::get_pid_info ( void ) const

inline

Definition at line 82 of file AC_PID.h.

Referenced by AC_AttitudeControl::control_monitor_update().

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◆ imax() [1/2]

float AC_PID::imax ( ) const

inline

Definition at line 64 of file AC_PID.h.

Referenced by loop(), and AC_PosControl::run_z_controller().

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◆ imax() [2/2]

void AC_PID::imax ( const float v )

inline

Definition at line 72 of file AC_PID.h.

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◆ kD() [1/2]

AP_Float& AC_PID::kD ( )

inline

Definition at line 62 of file AC_PID.h.

Referenced by loop(), AC_AttitudeControl::max_rate_step_bf_pitch(), AC_AttitudeControl::max_rate_step_bf_roll(), and AC_AttitudeControl::max_rate_step_bf_yaw().

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◆ kD() [2/2]

void AC_PID::kD ( const float v )

inline

Definition at line 71 of file AC_PID.h.

◆ kI() [1/2]

AP_Float& AC_PID::kI ( )

inline

Definition at line 61 of file AC_PID.h.

Referenced by loop().

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◆ kI() [2/2]

void AC_PID::kI ( const float v )

inline

Definition at line 70 of file AC_PID.h.

◆ kP() [1/2]

AP_Float& AC_PID::kP ( )

inline

Definition at line 60 of file AC_PID.h.

Referenced by loop(), AC_AttitudeControl::max_rate_step_bf_pitch(), AC_AttitudeControl::max_rate_step_bf_roll(), and AC_AttitudeControl::max_rate_step_bf_yaw().

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◆ kP() [2/2]

void AC_PID::kP ( const float v )

inline

Definition at line 69 of file AC_PID.h.

◆ load_gains()

void AC_PID::load_gains ( )

Definition at line 184 of file AC_PID.cpp.

Referenced by reset_filter().

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◆ operator()()

void AC_PID::operator()	(	float	p,
		float	i,
		float	d,
		float	imaxval,
		float	input_filt_hz,
		float	dt,
		float	ffval = `0`
	)

operator function call for easy initialisation

Overload the function call operator to permit easy initialisation.

Definition at line 205 of file AC_PID.cpp.

Referenced by reset_filter().

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◆ reset_filter()

void AC_PID::reset_filter ( )

inline

Definition at line 48 of file AC_PID.h.

Referenced by AR_AttitudeControl::get_steering_out_rate(), and AR_AttitudeControl::get_throttle_out_speed().

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◆ reset_I()

void AC_PID::reset_I ( )

Definition at line 179 of file AC_PID.cpp.

Referenced by AC_AttitudeControl::relax_attitude_controllers(), and AC_AttitudeControl::reset_rate_controller_I_terms().

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◆ save_gains()

void AC_PID::save_gains ( )

Definition at line 195 of file AC_PID.cpp.

Referenced by reset_filter().

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◆ set_desired_rate()

void AC_PID::set_desired_rate ( float desired )

inline

Definition at line 80 of file AC_PID.h.

Referenced by AR_AttitudeControl::get_steering_out_rate(), AR_AttitudeControl::get_throttle_out_speed(), AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(), AC_AttitudeControl::rate_target_to_motor_pitch(), AC_AttitudeControl::rate_target_to_motor_roll(), AC_AttitudeControl_Heli::rate_target_to_motor_yaw(), AC_AttitudeControl::rate_target_to_motor_yaw(), and AC_PosControl::run_z_controller().

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◆ set_dt()

void AC_PID::set_dt ( float dt )

Definition at line 69 of file AC_PID.cpp.

Referenced by AR_AttitudeControl::get_steering_out_rate(), AR_AttitudeControl::get_throttle_out_speed(), and AC_PosControl::set_dt().

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◆ set_input_filter_all()

void AC_PID::set_input_filter_all ( float input )

Definition at line 87 of file AC_PID.cpp.

Referenced by AR_AttitudeControl::get_steering_out_rate(), AR_AttitudeControl::get_throttle_out_speed(), loop(), AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(), AC_AttitudeControl_Heli::rate_target_to_motor_yaw(), AC_AttitudeControl::rate_target_to_motor_yaw(), AC_PosControl::run_z_controller(), and AP_Winch_Servo::update().

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◆ set_input_filter_d()

void AC_PID::set_input_filter_d ( float input )

Definition at line 112 of file AC_PID.cpp.

Referenced by AC_AttitudeControl::rate_target_to_motor_pitch(), and AC_AttitudeControl::rate_target_to_motor_roll().

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◆ set_integrator()

void AC_PID::set_integrator ( float i )

inline

Definition at line 77 of file AC_PID.h.

Referenced by AC_PosControl::init_takeoff(), AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(), and AC_PosControl::relax_alt_hold_controllers().

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Member Data Documentation

◆ _derivative

float AC_PID::_derivative

protected

Definition at line 106 of file AC_PID.h.

Referenced by get_d(), set_input_filter_all(), and set_input_filter_d().

◆ _dt

float AC_PID::_dt

protected

Definition at line 103 of file AC_PID.h.

Referenced by get_filt_alpha(), get_i(), AC_HELI_PID::get_leaky_i(), operator()(), set_dt(), set_input_filter_all(), and set_input_filter_d().

◆ _ff

AP_Float AC_PID::_ff

protected

Definition at line 95 of file AC_PID.h.

Referenced by AC_PID(), ff(), get_ff(), and operator()().

◆ _filt_hz

AP_Float AC_PID::_filt_hz

protected

Definition at line 94 of file AC_PID.h.

Referenced by filt_hz(), get_filt_alpha(), load_gains(), operator()(), and save_gains().

◆ _flags

struct AC_PID::ac_pid_flags AC_PID::_flags

protected

Referenced by AC_PID(), reset_filter(), set_input_filter_all(), and set_input_filter_d().

◆ _imax

AP_Float AC_PID::_imax

protected

Definition at line 93 of file AC_PID.h.

Referenced by AC_PID(), get_i(), AC_HELI_PID::get_leaky_i(), imax(), load_gains(), operator()(), and save_gains().

◆ _input

float AC_PID::_input

protected

Definition at line 105 of file AC_PID.h.

Referenced by get_i(), AC_HELI_PID::get_leaky_i(), get_p(), set_input_filter_all(), and set_input_filter_d().

◆ _integrator

float AC_PID::_integrator

protected

Definition at line 104 of file AC_PID.h.

Referenced by get_i(), get_integrator(), AC_HELI_PID::get_leaky_i(), reset_I(), and set_integrator().

◆ _kd

AP_Float AC_PID::_kd

protected

Definition at line 92 of file AC_PID.h.

Referenced by AC_PID(), get_d(), kD(), load_gains(), operator()(), and save_gains().

◆ _ki

AP_Float AC_PID::_ki

protected

Definition at line 91 of file AC_PID.h.

Referenced by AC_PID(), get_i(), AC_HELI_PID::get_leaky_i(), kI(), load_gains(), operator()(), and save_gains().

◆ _kp

AP_Float AC_PID::_kp

protected

Definition at line 90 of file AC_PID.h.

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

◆ _pid_info

DataFlash_Class::PID_Info AC_PID::_pid_info

protected

Definition at line 108 of file AC_PID.h.

Referenced by AC_PID(), get_d(), get_ff(), get_i(), AC_HELI_PID::get_leaky_i(), get_p(), get_pid_info(), and set_desired_rate().

◆ var_info

const AP_Param::GroupInfo AC_PID::var_info

static

Definition at line 85 of file AC_PID.h.

Referenced by AC_PID().

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

libraries/AC_PID/AC_PID.h
libraries/AC_PID/AC_PID.cpp

Classes

Public Member Functions

Static Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AC_PID()

Member Function Documentation

◆ ff() [1/2]

◆ ff() [2/2]

◆ filt_hz() [1/2]

◆ filt_hz() [2/2]

◆ get_d()

◆ get_ff()

◆ get_filt_alpha()

◆ get_i()

◆ get_integrator()

◆ get_p()

◆ get_pi()

◆ get_pid()

◆ get_pid_info()

◆ imax() [1/2]

◆ imax() [2/2]

◆ kD() [1/2]

◆ kD() [2/2]

◆ kI() [1/2]

◆ kI() [2/2]

◆ kP() [1/2]

◆ kP() [2/2]

◆ load_gains()

◆ operator()()

◆ reset_filter()

◆ reset_I()

◆ save_gains()

◆ set_desired_rate()

◆ set_dt()

◆ set_input_filter_all()

◆ set_input_filter_d()

◆ set_integrator()

Member Data Documentation

◆ _derivative

◆ _dt

◆ _ff

◆ _filt_hz

◆ _flags

◆ _imax

◆ _input

◆ _integrator

◆ _kd

◆ _ki

◆ _kp

◆ _pid_info

◆ var_info