private static PIDSettings[] GetPIDSettings()
{
PIDSettings pitchSettings = new PIDSettings
{
DerivativeGain = 3.2F,
IntegralGain = 0F,
ProportionalGain = -.5F,
WindupLimit = 2000F
};
PIDSettings rollSettings = new PIDSettings
{
DerivativeGain = 3.2F,
IntegralGain = 0F,
ProportionalGain = -.5F,
WindupLimit = 2000F
};
PIDSettings yawSettings = new PIDSettings
{
DerivativeGain = 3.2F,
IntegralGain = 0F,
ProportionalGain = -.5F,
WindupLimit = 2000F
};
return new[] { pitchSettings, rollSettings, yawSettings };
}
public AxesController(PIDSettings pitchSettings, PIDSettings rollSettings, PIDSettings yawSettings, bool useWindup)
{
if (useWindup)
{
_pitchController = new PIDWindup(pitchSettings);
_rollController = new PIDWindup(rollSettings);
_yawController = new PIDWindup(yawSettings);
}
else
{
_pitchController = new ControlAlgorithms.Implementations.PID.PID(pitchSettings);
_rollController = new ControlAlgorithms.Implementations.PID.PID(rollSettings);
_yawController = new ControlAlgorithms.Implementations.PID.PID(yawSettings);
}
Axes = new AircraftPrincipalAxes(){Pitch = 0, Roll = 0, Yaw = 0};
}
public PID(PIDSettings settings) : base(settings)
{
}
public PID(PIDSettings settings)
{
Settings = settings;
}
public PIDWindup(PIDSettings settings)
: base(settings)
{
Vector3D.Multiply(settings.WindupLimit, -1F, _negativeWindupLimit);
}
public PIDWindup(PIDSettings settings)
: base(settings)
{
}
