AP_PitchController Class Reference

#include <AP_PitchController.h>

Collaboration diagram for AP_PitchController:

Public Member Functions
	AP_PitchController (AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash)
	AP_PitchController (const AP_PitchController &other)=delete
AP_PitchController &	operator= (const AP_PitchController &)=delete
int32_t	get_rate_out (float desired_rate, float scaler)
int32_t	get_servo_out (int32_t angle_err, float scaler, bool disable_integrator)
void	reset_I ()
void	autotune_start (void)
void	autotune_restore (void)
const DataFlash_Class::PID_Info &	get_pid_info (void) const
AP_Float &	kP (void)
AP_Float &	kI (void)
AP_Float &	kD (void)
AP_Float &	kFF (void)

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

Private Member Functions
int32_t	_get_rate_out (float desired_rate, float scaler, bool disable_integrator, float aspeed)
float	_get_coordination_rate_offset (float &aspeed, bool &inverted) const

Private Attributes
const AP_Vehicle::FixedWing &	aparm
AP_AutoTune::ATGains	gains
AP_AutoTune	autotune
AP_Int16	_max_rate_neg
AP_Float	_roll_ff
uint32_t	_last_t
float	_last_out
DataFlash_Class::PID_Info	_pid_info
AP_AHRS &	_ahrs

Detailed Description

Definition at line 10 of file AP_PitchController.h.

Constructor & Destructor Documentation

AP_PitchController() [1/2]

AP_PitchController::AP_PitchController ( AP_AHRS &  ahrs, const AP_Vehicle::FixedWing &  parms, DataFlash_Class &  _dataflash  )

inline

Definition at line 12 of file AP_PitchController.h.

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AP_PitchController() [2/2]

AP_PitchController::AP_PitchController ( const AP_PitchController &  other )

delete

Member Function Documentation

_get_coordination_rate_offset()

float AP_PitchController::_get_coordination_rate_offset ( float &  aspeed, bool &  inverted  ) const

private

Definition at line 255 of file AP_PitchController.cpp.

Referenced by get_servo_out().

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_get_rate_out()

int32_t AP_PitchController::_get_rate_out ( float  desired_rate, float  scaler, bool  disable_integrator, float  aspeed  )

private

Definition at line 114 of file AP_PitchController.cpp.

Referenced by get_rate_out(), and get_servo_out().

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autotune_restore()

void AP_PitchController::autotune_restore ( void  )

inline

Definition at line 30 of file AP_PitchController.h.

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autotune_start()

void AP_PitchController::autotune_start ( void  )

inline

Definition at line 29 of file AP_PitchController.h.

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get_pid_info()

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

inline

Definition at line 32 of file AP_PitchController.h.

get_rate_out()

int32_t AP_PitchController::get_rate_out	(	float	desired_rate,
		float	scaler
	)

Definition at line 238 of file AP_PitchController.cpp.

Referenced by AP_PitchController().

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get_servo_out()

int32_t AP_PitchController::get_servo_out	(	int32_t	angle_err,
		float	scaler,
		bool	disable_integrator
	)

Definition at line 297 of file AP_PitchController.cpp.

Referenced by AP_PitchController().

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kD()

AP_Float& AP_PitchController::kD ( void  )

inline

Definition at line 38 of file AP_PitchController.h.

kFF()

AP_Float& AP_PitchController::kFF ( void  )

inline

Definition at line 39 of file AP_PitchController.h.

kI()

AP_Float& AP_PitchController::kI ( void  )

inline

Definition at line 37 of file AP_PitchController.h.

kP()

AP_Float& AP_PitchController::kP ( void  )

inline

Definition at line 36 of file AP_PitchController.h.

operator=()

AP_PitchController& AP_PitchController::operator= ( const AP_PitchController &  )

delete

Referenced by AP_PitchController().

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reset_I()

void AP_PitchController::reset_I

(

)

Definition at line 336 of file AP_PitchController.cpp.

Referenced by AP_PitchController().

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Member Data Documentation

_ahrs

AP_AHRS& AP_PitchController::_ahrs

private

Definition at line 55 of file AP_PitchController.h.

Referenced by _get_coordination_rate_offset(), _get_rate_out(), and get_rate_out().

_last_out

float AP_PitchController::_last_out

private

Definition at line 48 of file AP_PitchController.h.

Referenced by _get_rate_out().

_last_t

uint32_t AP_PitchController::_last_t

private

Definition at line 47 of file AP_PitchController.h.

Referenced by _get_rate_out().

_max_rate_neg

AP_Int16 AP_PitchController::_max_rate_neg

private

Definition at line 45 of file AP_PitchController.h.

Referenced by _get_rate_out(), and get_servo_out().

_pid_info

DataFlash_Class::PID_Info AP_PitchController::_pid_info

private

Definition at line 50 of file AP_PitchController.h.

Referenced by _get_rate_out(), get_pid_info(), and reset_I().

_roll_ff

AP_Float AP_PitchController::_roll_ff

private

Definition at line 46 of file AP_PitchController.h.

Referenced by _get_coordination_rate_offset().

aparm

const AP_Vehicle::FixedWing& AP_PitchController::aparm

private

Definition at line 42 of file AP_PitchController.h.

Referenced by _get_coordination_rate_offset(), _get_rate_out(), and get_rate_out().

autotune

AP_AutoTune AP_PitchController::autotune

private

Definition at line 44 of file AP_PitchController.h.

Referenced by _get_rate_out(), autotune_restore(), and autotune_start().

gains

AP_AutoTune::ATGains AP_PitchController::gains

private

Definition at line 43 of file AP_PitchController.h.

Referenced by _get_rate_out(), get_servo_out(), kD(), kFF(), kI(), and kP().

var_info

const AP_Param::GroupInfo AP_PitchController::var_info

static

Definition at line 34 of file AP_PitchController.h.

Referenced by AP_PitchController().

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

• libraries/APM_Control/AP_PitchController.h
• libraries/APM_Control/AP_PitchController.cpp