1 | /*!
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2 | * \file PidThrust.h
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3 | * \brief Class defining a Pid for Thrust
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4 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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5 | * \date 2014/11/07
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6 | * \version 4.0
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7 | */
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8 |
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9 | #ifndef PIDTHRUST_H
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10 | #define PIDTHRUST_H
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11 |
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12 | #include <ControlLaw.h>
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13 |
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14 | namespace flair
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15 | {
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16 | namespace gui
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17 | {
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18 | class LayoutPosition;
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19 | }
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20 | }
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21 |
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22 | class PidThrust_impl;
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23 |
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24 | namespace flair
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25 | {
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26 | namespace filter
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27 | {
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28 | /*! \class PidThrust
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29 | *
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30 | * \brief Class defining a Pid for Thrust.\n
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31 | * This Pid as an extra offset for compensating gravity.
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32 | */
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33 | class PidThrust : public ControlLaw
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34 | {
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35 | friend class ::PidThrust_impl;
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36 |
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37 | public:
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38 | /*!
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39 | * \brief Constructor
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40 | *
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41 | * Construct a PidThrust at given position
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42 | * The PidThrust will automatically be child of position->getLayout() Layout. After calling this function,
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43 | * position will be deleted as it is no longer usefull. \n
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44 | *
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45 | * \param position position to display settings
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46 | * \param name name
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47 | */
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48 | PidThrust(const gui::LayoutPosition* position,std::string name);
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49 |
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50 | /*!
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51 | * \brief Destructor
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52 | *
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53 | */
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54 | ~PidThrust();
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55 |
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56 | /*!
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57 | * \brief Reset integral and offset to 0
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58 | *
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59 | */
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60 | void Reset(void);
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61 |
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62 | /*!
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63 | * \brief Reset integral to 0
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64 | *
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65 | */
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66 | void ResetI(void);
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67 |
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68 | /*!
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69 | * \brief Reset offset to 0
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70 | *
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71 | */
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72 | void ResetOffset(void);
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73 |
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74 | /*!
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75 | * \brief Set offset to specified value in ground station
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76 | *
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77 | */
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78 | void SetOffset(void);
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79 |
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80 | /*!
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81 | * \brief Get offset
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82 | *
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83 | * \return current offset
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84 | */
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85 | float GetOffset(void);
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86 |
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87 | /*!
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88 | * \brief Step up the offset according to specified value in ground station
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89 | *
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90 | * \return false if offset is at its maximum (1) value, true otherwise
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91 | */
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92 | bool OffsetStepUp(void);
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93 |
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94 | /*!
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95 | * \brief Step down the offset according to specified value in ground station
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96 | *
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97 | * \return false if offset is at its minimum (specified in ground station) value, true otherwise
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98 | */
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99 | bool OffsetStepDown(void);
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100 |
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101 | /*!
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102 | * \brief Set input values
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103 | *
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104 | * \param p proportional value
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105 | * \param d derivative value
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106 | */
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107 | void SetValues(float p,float d);
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108 |
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109 | /*!
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110 | * \brief Use default plot
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111 | *
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112 | * Plot the output values at position. \n
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113 | * Plot consists of 4 curves: proportional part,
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114 | * derivative part, integral part and
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115 | * the sum of the three. \n
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116 | * After calling this function, position will be deleted as it is no longer usefull. \n
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117 | *
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118 | * \param position position to display plot
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119 | */
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120 | void UseDefaultPlot(const gui::LayoutPosition* position);
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121 |
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122 | private:
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123 | /*!
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124 | * \brief Update using provided datas
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125 | *
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126 | * Reimplemented from IODevice.
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127 | *
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128 | * \param data data from the parent to process
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129 | */
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130 | void UpdateFrom(const core::io_data *data);
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131 |
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132 | PidThrust_impl* pimpl_;
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133 | };
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134 | } // end namespace filter
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135 | } // end namespace flair
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136 | #endif // PIDTHRUST_H
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