flight/libraries/pid/pidcontroldown.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup PathFollower PID Control implementation
   6  * @brief PID Controller for down direction
   7  * @{
   8  *
   9  * @file       PIDControlDown.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
  11  * @brief      Executes control loop for down direction
  12  *
  13  * @see        The GNU Public License (GPL) Version 3
  14  *
  15  *****************************************************************************/
  16 /*
  17  * This program is free software; you can redistribute it and/or modify
  18  * it under the terms of the GNU General Public License as published by
  19  * the Free Software Foundation; either version 3 of the License, or
  20  * (at your option) any later version.
  21  *
  22  * This program is distributed in the hope that it will be useful, but
  23  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  24  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  25  * for more details.
  26  *
  27  * You should have received a copy of the GNU General Public License along
  28  * with this program; if not, write to the Free Software Foundation, Inc.,
  29  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  30  */
  31 #ifndef PIDCONTROLDOWN_H
  32 #define PIDCONTROLDOWN_H
  33 extern "C" {
  34 #include <pid.h>
  35 #include <stabilizationdesired.h>
  36 }
  37 #include "pidcontroldowncallback.h"
  38
  39 class PIDControlDown {
  40 public:
  41     PIDControlDown();
  42     ~PIDControlDown();
  43     void Initialize(PIDControlDownCallback *callback);
  44     void SetThrustLimits(float min_thrust, float max_thrust);
  45     void Deactivate();
  46     void Activate();
  47     bool IsActive()
  48     {
  49         return mActive;
  50     }
  51     void UpdateParameters(float kp, float ki, float kd, float beta, float dT, float velocityMax);
  52     void UpdateNeutralThrust(float neutral);
  53     void UpdateVelocitySetpoint(float setpoint);
  54     void RateLimit(float *spDesired, float *spCurrent, float rateLimit);
  55     void UpdateVelocityState(float pv);
  56     float GetVelocityDesired(void);
  57     float GetDownCommand(void);
  58     void UpdatePositionalParameters(float kp);
  59     void UpdatePositionState(float pvDown);
  60     void UpdatePositionSetpoint(float setpointDown);
  61     void ControlPosition();
  62     void ControlPositionWithPath(struct path_status *progress);
  63     void UpdateBrakeVelocity(float startingVelocity, float dT, float brakeRate, float currentVelocity, float *updatedVelocity);
  64     void UpdateVelocityStateWithBrake(float pvDown, float path_time, float brakeRate);
  65     void DisableNeutralThrustCalc()
  66     {
  67         mAllowNeutralThrustCalc = false;
  68     }
  69     void EnableNeutralThrustCalc()
  70     {
  71         mAllowNeutralThrustCalc = true;
  72     }
  73
  74 private:
  75     void setup_neutralThrustCalc();
  76     void run_neutralThrustCalc();
  77
  78     struct pid2 PID;
  79     float deltaTime;
  80     float mVelocitySetpointTarget;
  81     float mVelocitySetpointCurrent;
  82     float mVelocityState;
  83     float mDownCommand;
  84     PIDControlDownCallback *mCallback;
  85     float mNeutral;
  86     float mVelocityMax;
  87     struct pid PIDpos;
  88     float mPositionSetpointTarget;
  89     float mPositionState;
  90     float mMinThrust;
  91     float mMaxThrust;
  92
  93     struct NeutralThrustEstimation {
  94         uint32_t count;
  95         float    sum;
  96         float    average;
  97         float    correction;
  98         float    min;
  99         float    max;
 100         bool     start_sampling;
 101         bool     have_correction;
 102     };
 103     struct NeutralThrustEstimation neutralThrustEst;
 104     bool mActive;
 105     bool mAllowNeutralThrustCalc;
 106 };
 107
 108 #endif // PIDCONTROLDOWN_H