public static double[] defaultControllerGains(PIDList type)
{
switch (type)
{
case PIDList.HdgBank:
return(PilotAssistant.defaultHdgBankGains);
case PIDList.HdgYaw:
return(PilotAssistant.defaultHdgYawGains);
case PIDList.Aileron:
return(PilotAssistant.defaultAileronGains);
case PIDList.Rudder:
return(PilotAssistant.defaultRudderGains);
case PIDList.Altitude:
return(PilotAssistant.defaultAltitudeGains);
case PIDList.VertSpeed:
return(PilotAssistant.defaultVSpeedGains);
case PIDList.Elevator:
return(PilotAssistant.defaultElevatorGains);
case PIDList.Throttle:
return(PilotAssistant.defaultThrottleGains);
default:
return(PilotAssistant.defaultAileronGains);
}
}
private void drawPIDvalues(PIDList controllerid, string inputName, string inputUnits, double inputValue, int displayPrecision, string outputName, string outputUnits, bool invertOutput = false, bool showTarget = true, bool doublesided = true)
{
PID_Controller controller = Utils.GetAsst(controllerid);
controller.bShow = GUILayout.Toggle(controller.bShow, string.Format("{0}: {1}{2}", inputName, inputValue.ToString("N" + displayPrecision.ToString()), inputUnits), GeneralUI.toggleButton, GUILayout.Width(window.width - 50));
if (controller.bShow)
{
if (showTarget)
{
GUILayout.Label(string.Format("Target: ", inputName) + controller.SetPoint.ToString("N" + displayPrecision.ToString()) + inputUnits);
}
GUILayout.BeginHorizontal();
GUILayout.BeginVertical();
controller.PGain = GeneralUI.labPlusNumBox(string.Format("Kp:", inputName), controller.PGain.ToString("G3"), 45);
controller.IGain = GeneralUI.labPlusNumBox(string.Format("Ki:", inputName), controller.IGain.ToString("G3"), 45);
controller.DGain = GeneralUI.labPlusNumBox(string.Format("Kd:", inputName), controller.DGain.ToString("G3"), 45);
controller.Scalar = GeneralUI.labPlusNumBox(string.Format("Scalar:", inputName), controller.Scalar.ToString("G3"), 45);
if (showPIDLimits)
{
GUILayout.EndVertical();
GUILayout.BeginVertical();
if (!invertOutput)
{
controller.OutMax = GeneralUI.labPlusNumBox(string.Format("Max {0}{1}:", outputName, outputUnits), controller.OutMax.ToString("G3"));
if (doublesided)
{
controller.OutMin = GeneralUI.labPlusNumBox(string.Format("Min {0}{1}:", outputName, outputUnits), controller.OutMin.ToString("G3"));
}
else
{
controller.OutMin = -controller.OutMax;
}
controller.ClampLower = GeneralUI.labPlusNumBox("I Clamp Lower:", controller.ClampLower.ToString("G3"));
controller.ClampUpper = GeneralUI.labPlusNumBox("I Clamp Upper:", controller.ClampUpper.ToString("G3"));
}
else
{ // used when response * -1 is used to get the correct output
controller.OutMin = -1 * GeneralUI.labPlusNumBox(string.Format("Max {0}{1}:", outputName, outputUnits), (-controller.OutMin).ToString("G3"));
if (doublesided)
{
controller.OutMax = -1 * GeneralUI.labPlusNumBox(string.Format("Min {0}{1}:", outputName, outputUnits), (-controller.OutMax).ToString("G3"));
}
else
{
controller.OutMax = -controller.OutMin;
}
controller.ClampUpper = -1 * GeneralUI.labPlusNumBox("I Clamp Lower:", (-controller.ClampUpper).ToString("G3"));
controller.ClampLower = -1 * GeneralUI.labPlusNumBox("I Clamp Upper:", (-controller.ClampLower).ToString("G3"));
}
}
GUILayout.EndVertical();
GUILayout.EndHorizontal();
}
}
public static double[] controllerGains(ConfigNode node, PIDList type)
{
double[] gains = new double[8];
if (node == null)
{
return(defaultControllerGains(type));
}
double.TryParse(node.GetValue(pGain), out gains[0]);
double.TryParse(node.GetValue(iGain), out gains[1]);
double.TryParse(node.GetValue(dGain), out gains[2]);
double.TryParse(node.GetValue(min), out gains[3]);
double.TryParse(node.GetValue(max), out gains[4]);
double.TryParse(node.GetValue(iLower), out gains[5]);
double.TryParse(node.GetValue(iUpper), out gains[6]);
double.TryParse(node.GetValue(scalar), out gains[7]);
return(gains);
}
public static PID_Controller GetAsst(PIDList id)
{
return(PilotAssistant.controllers[(int)id]);
}
