Line data    Source code

       1             : #pragma once
       2             : 
       3             : /// @file       AC_PD.h
       4             : /// @brief      Single-axis P controller with EEPROM-backed gain storage.
       5             : 
       6             : #include <AP_Common/AP_Common.h>
       7             : #include <AP_Param/AP_Param.h>
       8             : #include <stdlib.h>
       9             : #include <cmath>
      10             : 
      11             : /// @class      AC_P
      12             : /// @brief      Object managing one P controller
      13             : class AC_P {
      14             : public:
      15             : 
      16             :     /// Constructor for P controller with EEPROM-backed gain.
      17             :     /// Parameters are initialized from defaults or EEPROM at runtime.
      18             :     ///
      19             :     /// @note   PIs must be named to avoid either multiple parameters with the
      20             :     ///                 same name, or an overly complex constructor.
      21             :     ///
      22             :     /// @param  initial_p       Initial value for the P term.
      23             :     ///
      24        6207 :     AC_P(const float &initial_p = 0.0f) :
      25        6207 :         default_kp(initial_p)
      26             :     {
      27        6207 :         AP_Param::setup_object_defaults(this, var_info);
      28        6207 :     }
      29             : 
      30             :     CLASS_NO_COPY(AC_P);
      31             : 
      32             :     /// Iterate the P controller, return the new control value
      33             :     ///
      34             :     /// Positive error produces positive output.
      35             :     ///
      36             :     /// @param error    The measured error value
      37             :     /// @returns                The updated control output.
      38             :     ///
      39             :     float       get_p(float error) const;
      40             : 
      41             :     // Loads controller configuration from EEPROM, including gains and filter frequencies. (not used)
      42             :     void        load_gains();
      43             : 
      44             :     // Saves controller configuration from EEPROM. Used by autotune to save gains before tuning.
      45             :     void        save_gains();
      46             : 
      47             :     /// @name   parameter accessors
      48             :     //@{
      49             : 
      50             :     // accessors
      51    99810266 :     AP_Float    &kP() { return _kp; }
      52    65929148 :     const AP_Float &kP() const { return _kp; }
      53        7366 :     void        set_kP(const float v) { _kp.set(v); }
      54             : 
      55             :     static const struct AP_Param::GroupInfo        var_info[];
      56             : 
      57             : private:
      58             :     AP_Float        _kp;
      59             : 
      60             :     const float default_kp;
      61             : };