Object managing one PID control. More...

#include <PID.h>

Collaboration diagram for PID:

Public Member Functions
	PID (const float &initial_p=0.0f, const float &initial_i=0.0f, const float &initial_d=0.0f, const int16_t &initial_imax=0)

float	get_pid (float error, float scaler=1.0)

void	reset ()
	Reset the whole PID state. More...

void	reset_I ()

void	load_gains ()

void	save_gains ()

parameter accessors
static const struct AP_Param::GroupInfo	var_info []

AP_Float	_kp

AP_Float	_ki

AP_Float	_kd

AP_Int16	_imax

float	_integrator
	integrator value More...

float	_last_error
	last error for derivative More...

float	_last_derivative
	last derivative for low-pass filter More...

uint32_t	_last_t
	last time get_pid() was called in millis More...

DataFlash_Class::PID_Info	_pid_info {}

static const uint8_t	_fCut = 20

void	operator() (const float p, const float i, const float d, const int16_t imaxval)
	Overload the function call operator to permit relatively easy initialisation. More...

float	kP () const

float	kI () const

float	kD () const

int16_t	imax () const

void	kP (const float v)

void	kI (const float v)

void	kD (const float v)

void	imax (const int16_t v)

float	get_integrator () const

const DataFlash_Class::PID_Info &	get_pid_info (void) const

float	_get_pid (float error, uint16_t dt, float scaler)

Detailed Description

Object managing one PID control.

Definition at line 13 of file PID.h.

Constructor & Destructor Documentation

◆ PID()

PID::PID	(	const float &	initial_p = `0.0f`,
		const float &	initial_i = `0.0f`,
		const float &	initial_d = `0.0f`,
		const int16_t &	initial_imax = `0`
	)

inline

Definition at line 16 of file PID.h.

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Member Function Documentation

◆ _get_pid()

float PID::_get_pid	(	float	error,
		uint16_t	dt,
		float	scaler
	)

private

◆ get_integrator()

float PID::get_integrator ( ) const

inline

Definition at line 95 of file PID.h.

◆ get_pid()

float PID::get_pid	(	float	error,
		float	scaler = `1.0`
	)

Iterate the PID, return the new control value

Positive error produces positive output.

Parameters

error	The measured error value
scaler	An arbitrary scale factor

Returns: The updated control output.

Definition at line 37 of file PID.cpp.

Referenced by PID(), and AP_Landing_Deepstall::update_steering().

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◆ get_pid_info()

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

inline

Definition at line 101 of file PID.h.

Referenced by AP_Landing_Deepstall::get_pid_info(), and AP_Landing_Deepstall::Log().

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◆ imax() [1/2]

int16_t PID::imax ( ) const

inline

Definition at line 78 of file PID.h.

◆ imax() [2/2]

void PID::imax ( const int16_t v )

inline

Definition at line 91 of file PID.h.

◆ kD() [1/2]

float PID::kD ( ) const

inline

Definition at line 75 of file PID.h.

◆ kD() [2/2]

void PID::kD ( const float v )

inline

Definition at line 88 of file PID.h.

◆ kI() [1/2]

float PID::kI ( void ) const

inline

Definition at line 72 of file PID.h.

◆ kI() [2/2]

void PID::kI ( const float v )

inline

Definition at line 85 of file PID.h.

◆ kP() [1/2]

float PID::kP ( void ) const

inline

Definition at line 69 of file PID.h.

◆ kP() [2/2]

void PID::kP ( const float v )

inline

Definition at line 82 of file PID.h.

◆ load_gains()

void PID::load_gains ( )

Load gain properties

Definition at line 128 of file PID.cpp.

Referenced by PID().

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◆ operator()()

void PID::operator()	(	const float	p,
		const float	i,
		const float	d,
		const int16_t	imaxval
	)

inline

Overload the function call operator to permit relatively easy initialisation.

Definition at line 62 of file PID.h.

◆ reset()

void PID::reset ( void )

Reset the whole PID state.

Definition at line 122 of file PID.cpp.

Referenced by AP_Landing_Deepstall::do_land(), PID(), and AP_Landing_Deepstall::terminate().

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◆ reset_I()

void PID::reset_I ( )

Reset the PID integrator

Definition at line 113 of file PID.cpp.

Referenced by get_pid(), PID(), and reset().

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◆ save_gains()

void PID::save_gains ( )

Save gain properties

Definition at line 137 of file PID.cpp.

Referenced by PID().

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Member Data Documentation

◆ _fCut

const uint8_t PID::_fCut = 20

staticprivate

Low pass filter cut frequency for derivative calculation.

20 Hz because anything over that is probably noise, see http://en.wikipedia.org/wiki/Low-pass_filter.

Definition at line 123 of file PID.h.

Referenced by get_pid().

◆ _imax

AP_Int16 PID::_imax

private

Definition at line 107 of file PID.h.

Referenced by get_pid(), imax(), load_gains(), operator()(), PID(), and save_gains().

◆ _integrator

float PID::_integrator

private

integrator value

Definition at line 109 of file PID.h.

Referenced by get_integrator(), get_pid(), and reset_I().

◆ _kd

AP_Float PID::_kd

private

Definition at line 106 of file PID.h.

Referenced by get_pid(), kD(), load_gains(), operator()(), PID(), and save_gains().

◆ _ki

AP_Float PID::_ki

private

Definition at line 105 of file PID.h.

Referenced by get_pid(), kI(), load_gains(), operator()(), PID(), and save_gains().

◆ _kp

AP_Float PID::_kp

private

Definition at line 104 of file PID.h.

Referenced by get_pid(), kP(), load_gains(), operator()(), PID(), and save_gains().

◆ _last_derivative

float PID::_last_derivative

private

last derivative for low-pass filter

Definition at line 111 of file PID.h.

Referenced by get_pid(), PID(), and reset_I().

◆ _last_error

float PID::_last_error

private

last error for derivative

Definition at line 110 of file PID.h.

Referenced by get_pid().

◆ _last_t

uint32_t PID::_last_t

private

last time get_pid() was called in millis

Definition at line 112 of file PID.h.

Referenced by get_pid().

◆ _pid_info

DataFlash_Class::PID_Info PID::_pid_info {}

private

Definition at line 116 of file PID.h.

Referenced by get_pid(), get_pid_info(), reset(), and reset_I().

◆ var_info

const AP_Param::GroupInfo PID::var_info

static

Initial value:

= {
    
    AP_GROUPINFO("P",    0, PID, _kp, 0),
    
    AP_GROUPINFO("I",    1, PID, _ki, 0),
    
    AP_GROUPINFO("D",    2, PID, _kd, 0),
    
    AP_GROUPINFO("IMAX", 3, PID, _imax, 0),
    AP_GROUPEND
}

Definition at line 99 of file PID.h.

Referenced by PID().

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

libraries/PID/PID.h
libraries/PID/PID.cpp

Public Member Functions

parameter accessors

Detailed Description

Constructor & Destructor Documentation

◆ PID()

Member Function Documentation

◆ _get_pid()

◆ get_integrator()

◆ 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()

◆ reset_I()

◆ save_gains()

Member Data Documentation

◆ _fCut

◆ _imax

◆ _integrator

◆ _kd

◆ _ki

◆ _kp

◆ _last_derivative

◆ _last_error

◆ _last_t

◆ _pid_info

◆ var_info