AC_PID_2D Class Reference

Copter PID control class. More...

#include <AC_PID_2D.h>

Collaboration diagram for AC_PID_2D:

Classes
struct	ac_pid_flags

Public Member Functions
	AC_PID_2D (float initial_p, float initial_i, float initial_d, float initial_imax, float initial_filt_hz, float initial_filt_d_hz, float dt)
void	set_dt (float dt)
void	set_input (const Vector2f &input)
void	set_input (const Vector3f &input)
Vector2f	get_pid ()
Vector2f	get_p () const
Vector2f	get_i ()
Vector2f	get_i_shrink ()
Vector2f	get_d ()
void	reset_I ()
void	reset_filter ()
void	load_gains ()
void	save_gains ()
AP_Float &	kP ()
AP_Float &	kI ()
float	imax () const
float	filt_hz () const
float	get_filt_alpha () const
float	filt_d_hz () const
float	get_filt_alpha_D () 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	filt_d_hz (const float v)
Vector2f	get_integrator () const
void	set_integrator (const Vector2f &i)
void	set_integrator (const Vector3f &i)

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Protected Member Functions
void	set_input_filter_d (const Vector2f &input_delta)
void	calc_filt_alpha ()
void	calc_filt_alpha_d ()

Protected Attributes
AP_Float	_kp
AP_Float	_ki
AP_Float	_kd
AP_Float	_imax
AP_Float	_filt_hz
AP_Float	_filt_d_hz
struct AC_PID_2D::ac_pid_flags	_flags
float	_dt
float	_filt_alpha
float	_filt_alpha_d
Vector2f	_integrator
Vector2f	_input
Vector2f	_derivative

Detailed Description

Copter PID control class.

Definition at line 13 of file AC_PID_2D.h.

Constructor & Destructor Documentation

AC_PID_2D()

AC_PID_2D::AC_PID_2D	(	float	initial_p,
		float	initial_i,
		float	initial_d,
		float	initial_imax,
		float	initial_filt_hz,
		float	initial_filt_d_hz,
		float	dt
	)

Definition at line 49 of file AC_PID_2D.cpp.

Here is the call graph for this function:

Member Function Documentation

calc_filt_alpha()

void AC_PID_2D::calc_filt_alpha ( )

protected

Definition at line 223 of file AC_PID_2D.cpp.

Referenced by filt_hz(), load_gains(), and set_dt().

Here is the call graph for this function:

Here is the caller graph for this function:

calc_filt_alpha_d()

void AC_PID_2D::calc_filt_alpha_d ( )

protected

Definition at line 236 of file AC_PID_2D.cpp.

Referenced by filt_d_hz(), load_gains(), and set_dt().

Here is the call graph for this function:

Here is the caller graph for this function:

filt_d_hz() [1/2]

float AC_PID_2D::filt_d_hz ( ) const

inline

Definition at line 53 of file AC_PID_2D.h.

Referenced by AC_PID_2D(), and imax().

Here is the caller graph for this function:

filt_d_hz() [2/2]

void AC_PID_2D::filt_d_hz

(

const float

v

)

Definition at line 88 of file AC_PID_2D.cpp.

Here is the call graph for this function:

filt_hz() [1/2]

float AC_PID_2D::filt_hz ( ) const

inline

Definition at line 51 of file AC_PID_2D.h.

Referenced by AC_PID_2D(), and imax().

Here is the caller graph for this function:

filt_hz() [2/2]

void AC_PID_2D::filt_hz

(

const float

v

)

Definition at line 76 of file AC_PID_2D.cpp.

Here is the call graph for this function:

get_d()

Vector2f AC_PID_2D::get_d

(

)

Definition at line 180 of file AC_PID_2D.cpp.

Referenced by get_pid(), AC_PosControl::run_xy_controller(), and set_input().

Here is the caller graph for this function:

get_filt_alpha()

float AC_PID_2D::get_filt_alpha ( ) const

inline

Definition at line 52 of file AC_PID_2D.h.

get_filt_alpha_D()

float AC_PID_2D::get_filt_alpha_D ( ) const

inline

Definition at line 54 of file AC_PID_2D.h.

get_i()

Vector2f AC_PID_2D::get_i

(

)

Definition at line 152 of file AC_PID_2D.cpp.

Referenced by get_pid(), AC_PosControl::run_xy_controller(), and set_input().

Here is the call graph for this function:

Here is the caller graph for this function:

get_i_shrink()

Vector2f AC_PID_2D::get_i_shrink

(

)

Definition at line 166 of file AC_PID_2D.cpp.

Referenced by AC_PosControl::run_xy_controller(), and set_input().

Here is the call graph for this function:

Here is the caller graph for this function:

get_integrator()

Vector2f AC_PID_2D::get_integrator ( ) const

inline

Definition at line 64 of file AC_PID_2D.h.

get_p()

Vector2f AC_PID_2D::get_p

(

)

const

Definition at line 147 of file AC_PID_2D.cpp.

Referenced by get_pid(), AC_PosControl::run_xy_controller(), and set_input().

Here is the caller graph for this function:

get_pid()

Vector2f AC_PID_2D::get_pid

(

)

Definition at line 186 of file AC_PID_2D.cpp.

Referenced by set_input().

Here is the call graph for this function:

Here is the caller graph for this function:

imax() [1/2]

float AC_PID_2D::imax ( ) const

inline

Definition at line 50 of file AC_PID_2D.h.

imax() [2/2]

void AC_PID_2D::imax ( const float  v )

inline

Definition at line 60 of file AC_PID_2D.h.

Here is the call graph for this function:

kD()

void AC_PID_2D::kD ( const float  v )

inline

Definition at line 59 of file AC_PID_2D.h.

kI() [1/2]

AP_Float& AC_PID_2D::kI ( )

inline

Definition at line 49 of file AC_PID_2D.h.

kI() [2/2]

void AC_PID_2D::kI ( const float  v )

inline

Definition at line 58 of file AC_PID_2D.h.

kP() [1/2]

AP_Float& AC_PID_2D::kP ( )

inline

Definition at line 48 of file AC_PID_2D.h.

Referenced by AC_Loiter::calc_desired_velocity().

Here is the caller graph for this function:

kP() [2/2]

void AC_PID_2D::kP ( const float  v )

inline

Definition at line 57 of file AC_PID_2D.h.

load_gains()

void AC_PID_2D::load_gains

(

)

Definition at line 196 of file AC_PID_2D.cpp.

Referenced by set_input().

Here is the call graph for this function:

Here is the caller graph for this function:

reset_filter()

void AC_PID_2D::reset_filter

(

)

Referenced by set_input().

Here is the caller graph for this function:

reset_I()

void AC_PID_2D::reset_I

(

)

Definition at line 191 of file AC_PID_2D.cpp.

Referenced by set_input().

Here is the call graph for this function:

Here is the caller graph for this function:

save_gains()

void AC_PID_2D::save_gains

(

)

Definition at line 212 of file AC_PID_2D.cpp.

Referenced by set_input().

Here is the caller graph for this function:

set_dt()

void AC_PID_2D::set_dt

(

float

dt

)

Definition at line 67 of file AC_PID_2D.cpp.

Referenced by AC_PosControl::set_dt().

Here is the call graph for this function:

Here is the caller graph for this function:

set_input() [1/2]

void AC_PID_2D::set_input

(

const Vector2f &

input

)

Definition at line 102 of file AC_PID_2D.cpp.

Referenced by AC_PosControl::run_xy_controller().

Here is the call graph for this function:

Here is the caller graph for this function:

set_input() [2/2]

void AC_PID_2D::set_input ( const Vector3f &  input )

inline

Definition at line 26 of file AC_PID_2D.h.

Referenced by set_input().

Here is the call graph for this function:

Here is the caller graph for this function:

set_input_filter_d()

void AC_PID_2D::set_input_filter_d ( const Vector2f &  input_delta )

protected

Definition at line 125 of file AC_PID_2D.cpp.

Referenced by set_input().

Here is the call graph for this function:

Here is the caller graph for this function:

set_integrator() [1/2]

void AC_PID_2D::set_integrator ( const Vector2f &  i )

inline

Definition at line 65 of file AC_PID_2D.h.

Referenced by AC_PosControl::init_vel_controller_xyz(), and AC_PosControl::init_xy_controller().

Here is the caller graph for this function:

set_integrator() [2/2]

void AC_PID_2D::set_integrator ( const Vector3f &  i )

inline

Definition at line 66 of file AC_PID_2D.h.

Member Data Documentation

_derivative

Vector2f AC_PID_2D::_derivative

protected

Definition at line 103 of file AC_PID_2D.h.

Referenced by get_d(), and set_input_filter_d().

_dt

float AC_PID_2D::_dt

protected

Definition at line 98 of file AC_PID_2D.h.

Referenced by calc_filt_alpha(), calc_filt_alpha_d(), get_i(), get_i_shrink(), set_dt(), and set_input_filter_d().

_filt_alpha

float AC_PID_2D::_filt_alpha

protected

Definition at line 99 of file AC_PID_2D.h.

Referenced by calc_filt_alpha(), get_filt_alpha(), and set_input().

_filt_alpha_d

float AC_PID_2D::_filt_alpha_d

protected

Definition at line 100 of file AC_PID_2D.h.

Referenced by calc_filt_alpha_d(), get_filt_alpha_D(), and set_input_filter_d().

_filt_d_hz

AP_Float AC_PID_2D::_filt_d_hz

protected

Definition at line 90 of file AC_PID_2D.h.

Referenced by calc_filt_alpha_d(), filt_d_hz(), load_gains(), and save_gains().

_filt_hz

AP_Float AC_PID_2D::_filt_hz

protected

Definition at line 89 of file AC_PID_2D.h.

Referenced by calc_filt_alpha(), filt_d_hz(), filt_hz(), load_gains(), and save_gains().

_flags

struct AC_PID_2D::ac_pid_flags AC_PID_2D::_flags

protected

Referenced by AC_PID_2D(), set_input(), and set_input_filter_d().

_imax

AP_Float AC_PID_2D::_imax

protected

Definition at line 88 of file AC_PID_2D.h.

Referenced by AC_PID_2D(), get_i(), get_i_shrink(), imax(), load_gains(), and save_gains().

_input

Vector2f AC_PID_2D::_input

protected

Definition at line 102 of file AC_PID_2D.h.

Referenced by get_i(), get_i_shrink(), get_p(), and set_input().

_integrator

Vector2f AC_PID_2D::_integrator

protected

Definition at line 101 of file AC_PID_2D.h.

Referenced by get_i(), get_i_shrink(), get_integrator(), reset_I(), and set_integrator().

_kd

AP_Float AC_PID_2D::_kd

protected

Definition at line 87 of file AC_PID_2D.h.

Referenced by AC_PID_2D(), get_d(), kD(), load_gains(), and save_gains().

_ki

AP_Float AC_PID_2D::_ki

protected

Definition at line 86 of file AC_PID_2D.h.

Referenced by AC_PID_2D(), get_i(), get_i_shrink(), kI(), load_gains(), and save_gains().

_kp

AP_Float AC_PID_2D::_kp

protected

Definition at line 85 of file AC_PID_2D.h.

Referenced by AC_PID_2D(), get_p(), kP(), load_gains(), and save_gains().

var_info

const AP_Param::GroupInfo AC_PID_2D::var_info

static

Definition at line 69 of file AC_PID_2D.h.

Referenced by AC_PID_2D().

---

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

• libraries/AC_PID/AC_PID_2D.h
• libraries/AC_PID/AC_PID_2D.cpp