AC_PID: add accessor to set ILMI

AC_PID: implement heli ILMI to constructor

AC_PID: include ILMI in loading default params

Author: bnsgeyer

libraries/AC_PID/AC_HELI_PID.cpp

@@ -8,29 +8,29 @@ const AP_Param::GroupInfo AC_HELI_PID::var_info[] = {
     // @Param: P
     // @DisplayName: PID Proportional Gain
     // @Description: P Gain which produces an output value that is proportional to the current error value
-    AP_GROUPINFO("P",    0, AC_HELI_PID, _kp, 0),
+    AP_GROUPINFO_FLAGS_DEFAULT_POINTER("P", 0, AC_HELI_PID, _kp, default_kp),
 
     // @Param: I
     // @DisplayName: PID Integral Gain
     // @Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error
-    AP_GROUPINFO("I",    1, AC_HELI_PID, _ki, 0),
+    AP_GROUPINFO_FLAGS_DEFAULT_POINTER("I", 1, AC_HELI_PID, _ki, default_ki),
 
     // @Param: D
     // @DisplayName: PID Derivative Gain
     // @Description: D Gain which produces an output that is proportional to the rate of change of the error
-    AP_GROUPINFO("D",    2, AC_HELI_PID, _kd, 0),
+    AP_GROUPINFO_FLAGS_DEFAULT_POINTER("D", 2, AC_HELI_PID, _kd, default_kd),
 
     // 3 was for uint16 IMAX
 
     // @Param: FF
     // @DisplayName: FF FeedForward Gain
     // @Description: FF Gain which produces an output value that is proportional to the demanded input
-    AP_GROUPINFO("FF",    4, AC_HELI_PID, _kff, 0),
+    AP_GROUPINFO_FLAGS_DEFAULT_POINTER("FF", 4, AC_HELI_PID, _kff, default_kff),
 
     // @Param: IMAX
     // @DisplayName: PID Integral Maximum
     // @Description: The maximum/minimum value that the I term can output
-    AP_GROUPINFO("IMAX", 5, AC_HELI_PID, _kimax, 0),
+    AP_GROUPINFO_FLAGS_DEFAULT_POINTER("IMAX", 5, AC_HELI_PID, _kimax, default_kimax),
 
     // 6 was for float FILT
 
@@ -39,35 +39,35 @@ const AP_Param::GroupInfo AC_HELI_PID::var_info[] = {
     // @Description: Point below which I-term will not leak down
     // @Range: 0 1
     // @User: Advanced
-    AP_GROUPINFO("ILMI", 7, AC_HELI_PID, _leak_min, AC_PID_LEAK_MIN),
+    AP_GROUPINFO_FLAGS_DEFAULT_POINTER("ILMI", 7, AC_HELI_PID, _leak_min, default_ilmi),
 
     // 8 was for float AFF
 
     // @Param: FLTT
     // @DisplayName: PID Target filter frequency in Hz
-    // @Description: Target filter frequency in Hz
+    // @Description: Low-pass filter frequency applied to the target input (Hz)
     // @Units: Hz
-    AP_GROUPINFO("FLTT", 9, AC_HELI_PID, _filt_T_hz, AC_PID_TFILT_HZ_DEFAULT),
+    AP_GROUPINFO_FLAGS_DEFAULT_POINTER("FLTT", 9, AC_HELI_PID, _filt_T_hz, default_filt_T_hz),
 
     // @Param: FLTE
     // @DisplayName: PID Error filter frequency in Hz
-    // @Description: Error filter frequency in Hz
+    // @Description: Low-pass filter frequency applied to the error (Hz)
     // @Units: Hz
-    AP_GROUPINFO("FLTE", 10, AC_HELI_PID, _filt_E_hz, AC_PID_EFILT_HZ_DEFAULT),
+    AP_GROUPINFO_FLAGS_DEFAULT_POINTER("FLTE", 10, AC_HELI_PID, _filt_E_hz, default_filt_E_hz),
 
     // @Param: FLTD
-    // @DisplayName: PID D term filter frequency in Hz
-    // @Description: Derivative filter frequency in Hz
+    // @DisplayName: PID Derivative term filter frequency in Hz
+    // @Description: Low-pass filter frequency applied to the derivative (Hz)
     // @Units: Hz
-    AP_GROUPINFO("FLTD", 11, AC_HELI_PID, _filt_D_hz, AC_PID_DFILT_HZ_DEFAULT),
+    AP_GROUPINFO_FLAGS_DEFAULT_POINTER("FLTD", 11, AC_HELI_PID, _filt_D_hz, default_filt_D_hz),
 
     // @Param: SMAX
     // @DisplayName: Slew rate limit
     // @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
     // @Range: 0 200
     // @Increment: 0.5
     // @User: Advanced
-    AP_GROUPINFO("SMAX", 12, AC_HELI_PID, _slew_rate_max, 0),
+    AP_GROUPINFO_FLAGS_DEFAULT_POINTER("SMAX", 12, AC_HELI_PID, _slew_rate_max, default_slew_rate_max),
 
     // @Param: PDMX
     // @DisplayName: PD sum maximum
@@ -81,7 +81,7 @@ const AP_Param::GroupInfo AC_HELI_PID::var_info[] = {
     // @Range: 0 0.02
     // @Increment: 0.0001
     // @User: Advanced
-    AP_GROUPINFO("D_FF", 14, AC_HELI_PID, _kdff, 0),
+    AP_GROUPINFO_FLAGS_DEFAULT_POINTER("D_FF", 14, AC_HELI_PID, _kdff, default_kdff),
 
 #if AP_FILTER_ENABLED
     // @Param: NTF
@@ -102,6 +102,18 @@ const AP_Param::GroupInfo AC_HELI_PID::var_info[] = {
     AP_GROUPEND
 };
 
+// Constructor
+AC_HELI_PID::AC_HELI_PID(const AC_PID::Defaults &defaults,  float initial_ilmi) :
+    AC_PID{defaults},
+    default_ilmi(initial_ilmi)
+{
+
+    // load parameter values from eeprom
+    AP_Param::setup_object_defaults(this, var_info);
+
+    _last_requested_rate = 0;
+}
+
 // This is an integrator which tends to decay to zero naturally
 // if the error is zero.
 

libraries/AC_PID/AC_HELI_PID.h

@@ -9,29 +9,24 @@
 #include <cmath>
 #include "AC_PID.h"
 
-static const float AC_PID_LEAK_MIN = 0.1f;  // Default I-term Leak Minimum
-
 /// @class	AC_HELI_PID
 /// @brief	Heli PID control class
 class AC_HELI_PID : public AC_PID {
 public:
 
-    CLASS_NO_COPY(AC_HELI_PID);
+    /// Constructor for PID controller with EEPROM-backed gain.
+    /// Parameters are initialized from defaults or EEPROM at runtime.
+    AC_HELI_PID(const AC_PID::Defaults &defaults,  float initial_ilmi);
 
-    /// Constructor for PID
-    AC_HELI_PID(const AC_PID::Defaults &defaults) :
-        AC_PID{defaults}
-    {
-        _last_requested_rate = 0;
-    }
+    CLASS_NO_COPY(AC_HELI_PID);
 
     /// update_leaky_i - replacement for get_i but output is leaked at leak_rate
     void       update_leaky_i(float leak_rate);
 
     static const struct AP_Param::GroupInfo        var_info[];
 
 private:
-    AP_Float        _leak_min;
-
-    float           _last_requested_rate;       // Requested rate from last iteration, used to calculate rate change of requested rate
+    AP_Float    _leak_min;
+    float       _last_requested_rate;       // Requested rate from last iteration, used to calculate rate change of requested rate
+    const float default_ilmi;
 };

libraries/AC_PID/AC_PID.h

@@ -203,7 +203,6 @@ class AC_PID {
 
     AP_PIDInfo _pid_info;
 
-private:
     const float default_kp;
     const float default_ki;
     const float default_kd;