source: flair-src/trunk/lib/FlairFilter/src/PidThrust_impl.cpp

Last change on this file was 318, checked in by Sanahuja Guillaume, 3 years ago
File size: 3.8 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_impl.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Class defining a PID
14//
15//
16/*********************************************************************/
17#include "PidThrust_impl.h"
18#include "PidThrust.h"
19#include <Matrix.h>
20#include <Layout.h>
21#include <GroupBox.h>
22#include <DoubleSpinBox.h>
23#include <DataPlot1D.h>
24
25using std::string;
26using namespace flair::core;
27using namespace flair::gui;
28using namespace flair::filter;
29
30PidThrust_impl::PidThrust_impl(PidThrust *self, const LayoutPosition *position,
31 string name) {
32 i = 0;
33 offset_g = 0;
34 first_update = true;
35 this->self = self;
36
37 // init matrix
38 self->input = new Matrix(self, 2, 1, floatType, name);
39
40 MatrixDescriptor *desc = new MatrixDescriptor(5, 1);
41 desc->SetElementName(0, 0, "p");
42 desc->SetElementName(1, 0, "i");
43 desc->SetElementName(2, 0, "d");
44 desc->SetElementName(3, 0, "p+i+d");
45 desc->SetElementName(4, 0, "p+i+d+offset");
46 state = new Matrix(self, desc, floatType, name);
47 delete desc;
48
49 GroupBox *reglages_groupbox = new GroupBox(position, name);
50 T = new DoubleSpinBox(reglages_groupbox->NewRow(), "period, 0 for auto", " s",
51 0, 1, 0.01);
52 kp = new DoubleSpinBox(reglages_groupbox->NewRow(), "kp:", 0, 90000000, 0.01);
53 ki = new DoubleSpinBox(reglages_groupbox->NewRow(), "ki:", 0, 90000000, 0.01);
54 sati = new DoubleSpinBox(reglages_groupbox->LastRowLastCol(), "sat i:", 0, 1,
55 0.01);
56 kd = new DoubleSpinBox(reglages_groupbox->NewRow(), "kd:", 0, 90000000, 0.01);
57 offset = new DoubleSpinBox(reglages_groupbox->LastRowLastCol(), "offset g:",
58 0, 1, 0.01);
59 sat = new DoubleSpinBox(reglages_groupbox->NewRow(), "sat:", 0, 1, 0.1);
60 pas_offset = new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),
61 "offset step:", 0, 1, .0001, 4);
62}
63
64PidThrust_impl::~PidThrust_impl(void) {}
65
66void PidThrust_impl::UseDefaultPlot(const LayoutPosition *position) {
67 DataPlot1D *plot = new DataPlot1D(position, self->ObjectName(), -1, 1);
68 plot->AddCurve(state->Element(0));
69 plot->AddCurve(state->Element(1), DataPlot::Green);
70 plot->AddCurve(state->Element(2), DataPlot::Blue);
71 plot->AddCurve(state->Element(3), DataPlot::Black);
72 plot->AddCurve(state->Element(4), DataPlot::Yellow);
73}
74
75void PidThrust_impl::UpdateFrom(const io_data *data) {
76 float p, d, total;
77 float delta_t;
78 const Matrix* input = dynamic_cast<const Matrix*>(data);
79
80 if (!input) {
81 self->Warn("casting %s to Matrix failed\n",data->ObjectName().c_str());
82 return;
83 }
84
85 if (T->Value() == 0) {
86 delta_t = (float)(data->DataDeltaTime()) / 1000000000.;
87 } else {
88 delta_t = T->Value();
89 }
90 if (first_update == true) {
91 delta_t = 0;
92 first_update = false;
93 }
94
95 input->GetMutex();
96 p = kp->Value() * input->ValueNoMutex(0, 0);
97 i += ki->Value() * input->ValueNoMutex(0, 0) * delta_t;
98 if (i > sati->Value())
99 i = sati->Value();
100 if (i < -sati->Value())
101 i = -sati->Value();
102 d = kd->Value() * input->ValueNoMutex(1, 0);
103 input->ReleaseMutex();
104
105 total = p + i + d;
106 if (total > sat->Value())
107 total = sat->Value();
108 if (total < -sat->Value())
109 total = -sat->Value();
110
111 state->GetMutex();
112 state->SetValueNoMutex(0, 0, p);
113 state->SetValueNoMutex(1, 0, i);
114 state->SetValueNoMutex(2, 0, d);
115 state->SetValueNoMutex(3, 0, total);
116 state->SetValueNoMutex(4, 0, total - offset_g * offset_g);
117 state->ReleaseMutex();
118
119 //-offset_g, car on met -u_z dans le multiplex
120 // a revoir!
121 self->output->SetValue(0, 0, total - offset_g * offset_g);
122 self->output->SetDataTime(data->DataTime());
123}
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