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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/APM_Control/AP_PitchController.h
Views: 1798
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#pragma once

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#include <AP_Common/AP_Common.h>

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#include "AP_AutoTune.h"

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#include <AP_Math/AP_Math.h>

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#include <AC_PID/AC_PID.h>

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class AP_PitchController

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{

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public:

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    AP_PitchController(const AP_FixedWing &parms);

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    /* Do not allow copies */

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    CLASS_NO_COPY(AP_PitchController);

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    float get_rate_out(float desired_rate, float scaler);

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    float get_servo_out(int32_t angle_err, float scaler, bool disable_integrator, bool ground_mode);

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    // setup a one loop FF scale multiplier. This replaces any previous scale applied

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    // so should only be used when only one source of scaling is needed

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    void set_ff_scale(float _ff_scale) { ff_scale = _ff_scale; }

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    void reset_I();

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    /*

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      reduce the integrator, used when we have a low scale factor in a quadplane hover

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    */

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    void decay_I()

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    {

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        // this reduces integrator by 95% over 2s

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        _pid_info.I *= 0.995f;

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        rate_pid.set_integrator(rate_pid.get_i() * 0.995);

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    }

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    void autotune_start(void);

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    void autotune_restore(void);

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    const AP_PIDInfo& get_pid_info(void) const

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    {

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        return _pid_info;

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    }

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    // set the PID notch sample rates

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    void set_notch_sample_rate(float sample_rate) { rate_pid.set_notch_sample_rate(sample_rate); }

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    static const struct AP_Param::GroupInfo var_info[];

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    AP_Float &kP(void) { return rate_pid.kP(); }

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    AP_Float &kI(void) { return rate_pid.kI(); }

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    AP_Float &kD(void) { return rate_pid.kD(); }

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    AP_Float &kFF(void) { return rate_pid.ff(); }

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    AP_Float &tau(void) { return gains.tau; }

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    void convert_pid();

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private:

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    const AP_FixedWing &aparm;

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    AP_AutoTune::ATGains gains;

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    AP_AutoTune *autotune;

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    bool failed_autotune_alloc;

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    AP_Int16 _max_rate_neg;

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    AP_Float _roll_ff;

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    float _last_out;

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    AC_PID rate_pid{0.04, 0.15, 0, 0.345, 0.666, 3, 0, 12, 150, 1};

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    float angle_err_deg;

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    float ff_scale = 1.0;

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    AP_PIDInfo _pid_info;

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    float _get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed, bool ground_mode);

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    float _get_coordination_rate_offset(float &aspeed, bool &inverted) const;

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};

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