Copter PID control class. More...

#include <AC_PI_2D.h>

Collaboration diagram for AC_PI_2D:

Classes
struct	ac_pid_flags

Public Member Functions
	AC_PI_2D (float initial_p, float initial_i, float initial_imax, float initial_filt_hz, float dt)

void	set_dt (float dt)

void	set_input (const Vector2f &input)

void	set_input (const Vector3f &input)

Vector2f	get_pi ()

Vector2f	get_p () const

Vector2f	get_i ()

Vector2f	get_i_shrink ()

void	reset_I ()

void	reset_filter ()

void	load_gains ()

void	save_gains ()

void	operator() (float p, float i, float imaxval, float input_filt_hz, float dt)
	operator function call for easy initialisation More...

AP_Float &	kP ()

AP_Float &	kI ()

float	imax () const

float	filt_hz () const

float	get_filt_alpha () const

void	kP (const float v)

void	kI (const float v)

void	imax (const float v)

void	filt_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	calc_filt_alpha ()

Protected Attributes
AP_Float	_kp

AP_Float	_ki

AP_Float	_imax

AP_Float	_filt_hz

struct AC_PI_2D::ac_pid_flags	_flags

float	_dt

Vector2f	_integrator

Vector2f	_input

float	_filt_alpha

Detailed Description

Copter PID control class.

Definition at line 16 of file AC_PI_2D.h.

Constructor & Destructor Documentation

◆ AC_PI_2D()

AC_PI_2D::AC_PI_2D	(	float	initial_p,
		float	initial_i,
		float	initial_imax,
		float	initial_filt_hz,
		float	dt
	)

Definition at line 33 of file AC_PI_2D.cpp.

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Member Function Documentation

◆ calc_filt_alpha()

void AC_PI_2D::calc_filt_alpha ( )

protected

Definition at line 166 of file AC_PI_2D.cpp.

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

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◆ filt_hz() [1/2]

float AC_PI_2D::filt_hz ( ) const

inline

Definition at line 56 of file AC_PI_2D.h.

Referenced by AC_PI_2D(), and imax().

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◆ filt_hz() [2/2]

void AC_PI_2D::filt_hz ( const float v )

Definition at line 57 of file AC_PI_2D.cpp.

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◆ get_filt_alpha()

float AC_PI_2D::get_filt_alpha ( ) const

inline

Definition at line 57 of file AC_PI_2D.h.

◆ get_i()

Vector2f AC_PI_2D::get_i ( )

Definition at line 94 of file AC_PI_2D.cpp.

Referenced by get_pi(), and set_input().

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◆ get_i_shrink()

Vector2f AC_PI_2D::get_i_shrink ( )

Definition at line 108 of file AC_PI_2D.cpp.

Referenced by set_input().

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◆ get_integrator()

Vector2f AC_PI_2D::get_integrator ( ) const

inline

Definition at line 65 of file AC_PI_2D.h.

◆ get_p()

Vector2f AC_PI_2D::get_p ( ) const

Definition at line 89 of file AC_PI_2D.cpp.

Referenced by get_pi(), and set_input().

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◆ get_pi()

Vector2f AC_PI_2D::get_pi ( )

Definition at line 122 of file AC_PI_2D.cpp.

Referenced by set_input().

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◆ imax() [1/2]

float AC_PI_2D::imax ( ) const

inline

Definition at line 55 of file AC_PI_2D.h.

◆ imax() [2/2]

void AC_PI_2D::imax ( const float v )

inline

Definition at line 62 of file AC_PI_2D.h.

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◆ kI() [1/2]

AP_Float& AC_PI_2D::kI ( )

inline

Definition at line 54 of file AC_PI_2D.h.

◆ kI() [2/2]

void AC_PI_2D::kI ( const float v )

inline

Definition at line 61 of file AC_PI_2D.h.

◆ kP() [1/2]

AP_Float& AC_PI_2D::kP ( )

inline

Definition at line 53 of file AC_PI_2D.h.

◆ kP() [2/2]

void AC_PI_2D::kP ( const float v )

inline

Definition at line 60 of file AC_PI_2D.h.

◆ load_gains()

void AC_PI_2D::load_gains ( )

Definition at line 132 of file AC_PI_2D.cpp.

Referenced by set_input().

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◆ operator()()

void AC_PI_2D::operator()	(	float	p,
		float	i,
		float	imaxval,
		float	input_filt_hz,
		float	dt
	)

operator function call for easy initialisation

Overload the function call operator to permit easy initialisation.

Definition at line 154 of file AC_PI_2D.cpp.

Referenced by set_input().

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◆ reset_filter()

void AC_PI_2D::reset_filter ( )

Referenced by set_input().

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◆ reset_I()

void AC_PI_2D::reset_I ( )

Definition at line 127 of file AC_PI_2D.cpp.

Referenced by set_input().

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◆ save_gains()

void AC_PI_2D::save_gains ( )

Definition at line 145 of file AC_PI_2D.cpp.

Referenced by set_input().

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◆ set_dt()

void AC_PI_2D::set_dt ( float dt )

Definition at line 49 of file AC_PI_2D.cpp.

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◆ set_input() [1/2]

void AC_PI_2D::set_input ( const Vector2f & input )

Definition at line 71 of file AC_PI_2D.cpp.

◆ set_input() [2/2]

void AC_PI_2D::set_input ( const Vector3f & input )

inline

Definition at line 29 of file AC_PI_2D.h.

Referenced by set_input().

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◆ set_integrator() [1/2]

void AC_PI_2D::set_integrator ( const Vector2f & i )

inline

Definition at line 66 of file AC_PI_2D.h.

◆ set_integrator() [2/2]

void AC_PI_2D::set_integrator ( const Vector3f & i )

inline

Definition at line 67 of file AC_PI_2D.h.

Member Data Documentation

◆ _dt

float AC_PI_2D::_dt

protected

Definition at line 89 of file AC_PI_2D.h.

Referenced by calc_filt_alpha(), get_i(), get_i_shrink(), operator()(), and set_dt().

◆ _filt_alpha

float AC_PI_2D::_filt_alpha

protected

Definition at line 92 of file AC_PI_2D.h.

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

◆ _filt_hz

AP_Float AC_PI_2D::_filt_hz

protected

Definition at line 81 of file AC_PI_2D.h.

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

◆ _flags

struct AC_PI_2D::ac_pid_flags AC_PI_2D::_flags

protected

Referenced by AC_PI_2D(), and set_input().

◆ _imax

AP_Float AC_PI_2D::_imax

protected

Definition at line 80 of file AC_PI_2D.h.

Referenced by AC_PI_2D(), get_i(), get_i_shrink(), imax(), load_gains(), operator()(), and save_gains().

◆ _input

Vector2f AC_PI_2D::_input

protected

Definition at line 91 of file AC_PI_2D.h.

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

◆ _integrator

Vector2f AC_PI_2D::_integrator

protected

Definition at line 90 of file AC_PI_2D.h.

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

◆ _ki

AP_Float AC_PI_2D::_ki

protected

Definition at line 79 of file AC_PI_2D.h.

Referenced by AC_PI_2D(), get_i(), get_i_shrink(), kI(), load_gains(), operator()(), and save_gains().

◆ _kp

AP_Float AC_PI_2D::_kp

protected

Definition at line 78 of file AC_PI_2D.h.

Referenced by AC_PI_2D(), get_p(), kP(), load_gains(), operator()(), and save_gains().

◆ var_info

const AP_Param::GroupInfo AC_PI_2D::var_info

static

Initial value:

= {
    
    AP_GROUPINFO("P",    0, AC_PI_2D, _kp, 0),
    
    AP_GROUPINFO("I",    1, AC_PI_2D, _ki, 0),
    
    AP_GROUPINFO("IMAX", 2, AC_PI_2D, _imax, 0),
    
    AP_GROUPINFO("FILT_HZ", 3, AC_PI_2D, _filt_hz, AC_PI_2D_FILT_HZ_DEFAULT),
    AP_GROUPEND
}

Definition at line 70 of file AC_PI_2D.h.

Referenced by AC_PI_2D().

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

libraries/AC_PID/AC_PI_2D.h
libraries/AC_PID/AC_PI_2D.cpp

Classes

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AC_PI_2D()

Member Function Documentation

◆ calc_filt_alpha()

◆ filt_hz() [1/2]

◆ filt_hz() [2/2]

◆ get_filt_alpha()

◆ get_i()

◆ get_i_shrink()

◆ get_integrator()

◆ get_p()

◆ get_pi()

◆ imax() [1/2]

◆ imax() [2/2]

◆ kI() [1/2]

◆ kI() [2/2]

◆ kP() [1/2]

◆ kP() [2/2]

◆ load_gains()

◆ operator()()

◆ reset_filter()

◆ reset_I()

◆ save_gains()

◆ set_dt()

◆ set_input() [1/2]

◆ set_input() [2/2]

◆ set_integrator() [1/2]

◆ set_integrator() [2/2]

Member Data Documentation

◆ _dt

◆ _filt_alpha

◆ _filt_hz

◆ _flags

◆ _imax

◆ _input

◆ _integrator

◆ _ki

◆ _kp

◆ var_info