CoursePIDController.java example

Explorer
jop-master
/* $Id$
 * 
 * This file is a part of jPapaBench providing a Java implementation 
 * of PapaBench project.
 * Copyright (C) 2010  Michal Malohlava <michal.malohlava_at_d3s.mff.cuni.cz>
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 * 
 */
package papabench.core.autopilot.tasks.pids;

import papabench.core.autopilot.modules.AutopilotStatus;
import papabench.core.autopilot.modules.Estimator;
import papabench.core.autopilot.modules.Navigator;
import papabench.core.utils.MathUtils;

/**
 * Compute roll value from desired course.
 * 
 * @author Michal Malohlava
 *
 */
public class CoursePIDController extends AbstractPIDController {
	
	private float maxRoll 		= MAX_ROLL;
	private float coursePGain 	= COURSE_PGAIN; 
	
	public void control(AutopilotStatus status, Estimator estimator, Navigator navigator) {
		  float err = estimator.getHorizontalSpeed().direction - navigator.getDesiredCourse();
		  
		  err = MathUtils.normalizeRadAngle(err);
		  
		  float navDesiredRoll = coursePGain * err; //  * fspeed / AIR_SPEED;
		  
		  navDesiredRoll = MathUtils.symmetricalLimiter(navDesiredRoll, maxRoll);
		  
		  // propagate value
		  navigator.setDesiredRoll(navDesiredRoll);		  
	}
}