source: flair-src/trunk/lib/FlairFilter/src/PidThrust_impl.cpp @ 7

Last change on this file since 7 was 7, checked in by Sanahuja Guillaume, 5 years ago

filter and meta

File size: 3.5 KB
Line 
1//  created:    2014/11/07
2//  filename:   PidThrust_impl.cpp
3//
4//  author:     Guillaume Sanahuja
5//              Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7//  version:    $Id: $
8//
9//  purpose:    Class defining a PID
10//
11//
12/*********************************************************************/
13#include "PidThrust_impl.h"
14#include "PidThrust.h"
15#include <cvmatrix.h>
16#include <Layout.h>
17#include <GroupBox.h>
18#include <DoubleSpinBox.h>
19#include <DataPlot1D.h>
20
21using std::string;
22using namespace flair::core;
23using namespace flair::gui;
24using namespace flair::filter;
25
26PidThrust_impl::PidThrust_impl(PidThrust* self,const LayoutPosition* position,string name) {
27    i=0;
28    offset_g=0;
29        first_update=true;
30        this->self=self;
31
32    //init matrix
33    self->input=new cvmatrix(self,2,1,floatType,name);
34
35    cvmatrix_descriptor* desc=new cvmatrix_descriptor(5,1);
36    desc->SetElementName(0,0,"p");
37        desc->SetElementName(1,0,"i");
38        desc->SetElementName(2,0,"d");
39        desc->SetElementName(3,0,"p+i+d");
40        desc->SetElementName(4,0,"p+i+d+offset");
41    state=new cvmatrix(self,desc,floatType,name);
42
43    GroupBox* reglages_groupbox=new GroupBox(position,name);
44            T=new DoubleSpinBox(reglages_groupbox->NewRow(),"period, 0 for auto"," s",0,1,0.01);
45            kp=new DoubleSpinBox(reglages_groupbox->NewRow(),"kp:",0,90000000,0.01);
46            ki=new DoubleSpinBox(reglages_groupbox->NewRow(),"ki:",0,90000000,0.01);
47            sati=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"sat i:",0,1,0.01);
48            kd=new DoubleSpinBox(reglages_groupbox->NewRow(),"kd:",0,90000000,0.01);
49            offset=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"offset g:",0,1,0.01);
50            sat=new DoubleSpinBox(reglages_groupbox->NewRow(),"sat:",0,1,0.1);
51            pas_offset=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"offset step:",0,1,.0001,4);
52}
53
54PidThrust_impl::~PidThrust_impl(void) {
55}
56
57void PidThrust_impl::UseDefaultPlot(const LayoutPosition* position)
58{
59    DataPlot1D *plot=new DataPlot1D(position,self->ObjectName(),-1,1);
60            plot->AddCurve(state->Element(0));
61            plot->AddCurve(state->Element(1),DataPlot::Green);
62            plot->AddCurve(state->Element(2),DataPlot::Blue);
63            plot->AddCurve(state->Element(3),DataPlot::Black);
64            plot->AddCurve(state->Element(4),DataPlot::Yellow);
65}
66
67void PidThrust_impl::UpdateFrom(const io_data *data)
68{
69    float p,d,total;
70    float delta_t;
71    cvmatrix *input=(cvmatrix*)data;
72
73    if(T->Value()==0)
74    {
75        delta_t=(float)(data->DataTime()-previous_time)/1000000000.;
76    }
77    else
78    {
79        delta_t=T->Value();
80    }
81    if(first_update==true)
82    {
83        delta_t=0;
84        first_update=false;
85    }
86
87    input->GetMutex();
88    p=kp->Value()*input->ValueNoMutex(0,0);
89    i+=ki->Value()*input->ValueNoMutex(0,0)*delta_t;
90    if(i>sati->Value()) i=sati->Value();
91    if(i<-sati->Value()) i=-sati->Value();
92    d=kd->Value()*input->ValueNoMutex(1,0);
93    input->ReleaseMutex();
94
95    total=p+i+d;
96    if(total>sat->Value()) total=sat->Value();
97    if(total<-sat->Value()) total=-sat->Value();
98
99    state->GetMutex();
100    state->SetValueNoMutex(0,0,p);
101    state->SetValueNoMutex(1,0,i);
102    state->SetValueNoMutex(2,0,d);
103    state->SetValueNoMutex(3,0,total);
104    state->SetValueNoMutex(4,0,total-offset_g*offset_g);
105    state->ReleaseMutex();
106
107    //-offset_g, car on met -u_z dans le multiplex
108    //a revoir!
109    self->output->SetValue(0,0,total-offset_g*offset_g);
110    self->output->SetDataTime(data->DataTime());
111
112    previous_time=data->DataTime();
113}
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