source: flair-src/trunk/lib/FlairFilter/src/PidThrust.cpp @ 157

Last change on this file since 157 was 157, checked in by Sanahuja Guillaume, 4 years ago

iadded isready to iodevice:
avoid problem of imu not ready in ardrone2

File size: 2.0 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5//  created:    2014/11/07
6//  filename:   PidThrust.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class defining a PidThrust
14//
15//
16/*********************************************************************/
17
18#include "PidThrust.h"
19#include "PidThrust_impl.h"
20#include <cvmatrix.h>
21#include <Layout.h>
22#include <LayoutPosition.h>
23#include <DoubleSpinBox.h>
24
25using std::string;
26using namespace flair::core;
27using namespace flair::gui;
28
29namespace flair {
30namespace filter {
31
32PidThrust::PidThrust(const LayoutPosition *position, string name)
33    : ControlLaw(position->getLayout(), name) {
34  pimpl_ = new PidThrust_impl(this, position, name);
35 
36  SetIsReady(true);
37}
38
39PidThrust::~PidThrust(void) { delete pimpl_; }
40
41void PidThrust::UseDefaultPlot(const flair::gui::LayoutPosition *position) {
42  pimpl_->UseDefaultPlot(position);
43}
44
45void PidThrust::Reset(void) {
46  pimpl_->i = 0;
47  pimpl_->offset_g = 0;
48}
49
50void PidThrust::ResetI(void) { pimpl_->i = 0; }
51
52float PidThrust::GetOffset(void) { return pimpl_->offset_g; }
53
54void PidThrust::UpdateFrom(const io_data *data) {
55  pimpl_->UpdateFrom(data);
56  ProcessUpdate(output);
57}
58
59void PidThrust::SetValues(float p, float d) {
60  input->SetValue(0, 0, p);
61  input->SetValue(1, 0, d);
62}
63
64void PidThrust::ResetOffset(void) { pimpl_->offset_g = 0; }
65
66void PidThrust::SetOffset(void) { pimpl_->offset_g = pimpl_->offset->Value(); }
67
68bool PidThrust::OffsetStepUp(void) {
69  pimpl_->offset_g += pimpl_->pas_offset->Value();
70  if (pimpl_->offset_g > 1) {
71    pimpl_->offset_g = 1;
72    return false;
73  } else {
74    return true;
75  }
76}
77
78bool PidThrust::OffsetStepDown(void) {
79  pimpl_->offset_g -= pimpl_->pas_offset->Value();
80  if (pimpl_->offset_g < pimpl_->offset->Value()) {
81    pimpl_->offset_g = pimpl_->offset->Value();
82    return false;
83  } else {
84    return true;
85  }
86}
87
88} // end namespace filter
89} // end namespace flair
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