flight/modules/PathFollower/inc/pidcontrolne.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup PathFollower CONTROL interface class
   6  * @brief PID Controler for NE Class definition
   7  * @{
   8  *
   9  * @file       pidcontrolne.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
  11  * @brief      Executes pid control loop for NE
  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 PIDCONTROLNE_H
  32 #define PIDCONTROLNE_H
  33 extern "C" {
  34 #include <pid.h>
  35 }
  36 #include "pathfollowerfsm.h"
  37
  38 class PIDControlNE {
  39 public:
  40     PIDControlNE();
  41     ~PIDControlNE();
  42     void Deactivate();
  43     void Activate();
  44     void UpdateParameters(float kp, float ki, float kd, __attribute__((unused)) float ilimit, float dT, float velocityMax);
  45     void UpdatePositionalParameters(float kp);
  46     void UpdatePositionState(float pvNorth, float pvEast);
  47     void UpdatePositionSetpoint(float setpointNorth, float setpointEast);
  48     void UpdateVelocitySetpoint(float setpointNorth, float setpointEast);
  49     // void RateLimit(float *spDesired, float *spCurrent, float rateLimit);
  50     void UpdateVelocityState(float pvNorth, float pvEast);
  51     void UpdateCommandParameters(float minCommand, float maxCommand, float velocityFeedforward);
  52     void ControlPosition();
  53     void ControlPositionWithPath(struct path_status *progress);
  54     void GetNECommand(float *northCommand, float *eastCommand);
  55     void GetVelocityDesired(float *north, float *east);
  56     void UpdateBrakeVelocity(float startingVelocity, float dT, float brakeRate, float currentVelocity, float *updatedVelocity);
  57     void UpdateVelocityStateWithBrake(float pvNorth, float pvEast, float path_time, float brakeRate);
  58
  59 private:
  60     struct pid2 PIDvel[2]; // North, East
  61     float mVelocitySetpointTarget[2];
  62     float mVelocityState[2];
  63     struct pid PIDposH[2];
  64     float mPositionSetpointTarget[2];
  65     float mPositionState[2];
  66
  67
  68     float deltaTime;
  69     float mVelocitySetpointCurrent[2];
  70     float mNECommand;
  71     float mNeutral;
  72     float mVelocityMax;
  73     float mMinCommand;
  74     float mMaxCommand;
  75     float mVelocityFeedforward;
  76     uint8_t mActive;
  77 };
  78
  79 #endif // PIDCONTROLNE_H