def __init__(self, pitch_p, pitch_i, pitch_d, elevator_p, elevator_i,
elevator_d, dt):
self.target_altitude = 1000.0
self.pitch_pid = PID(pitch_p, pitch_d, pitch_d, -15.0, 15.0, dt, 0.0)
self.elevator_pid = PID(elevator_p, elevator_i, elevator_d, -1.0, 1.0,
dt, 200.0)
class HeadingHoldAutopilot(object):
def __init__(self, roll_p, roll_i, roll_d, aileron_p, aileron_i, aileron_d, dt):
self.target_heading = 180.0
self.course_pid = PID(roll_p, roll_i, roll_d, -15.0, 15.0, dt, 0.0)
self.aileron_pid = PID(aileron_p, aileron_i, aileron_d, -1.0, 1.0, dt, 10.0)
def set_target_heading(self, heading):
self.target_heading = heading
def get_aileron(self, current_course, current_roll):
course_error = self.target_heading - current_course
if course_error < -180.0:
course_error = course_error + 360
elif course_error > 180.0:
course_error = course_error - 360
target_roll = self.course_pid.calculateOutput(course_error)
roll_error = target_roll - current_roll
aileron = self.aileron_pid.calculateOutput(roll_error)
return aileron;
def __init__(self, roll_p, roll_i, roll_d, aileron_p, aileron_i, aileron_d,
dt):
self.target_heading = 180.0
self.course_pid = PID(roll_p, roll_i, roll_d, -15.0, 15.0, dt, 0.0)
self.aileron_pid = PID(aileron_p, aileron_i, aileron_d, -1.0, 1.0, dt,
10.0)
class HeadingHoldAutopilot(object):
def __init__(self, roll_p, roll_i, roll_d, aileron_p, aileron_i, aileron_d,
dt):
self.target_heading = 180.0
self.course_pid = PID(roll_p, roll_i, roll_d, -15.0, 15.0, dt, 0.0)
self.aileron_pid = PID(aileron_p, aileron_i, aileron_d, -1.0, 1.0, dt,
10.0)
def set_target_heading(self, heading):
self.target_heading = heading
def get_aileron(self, current_course, current_roll):
course_error = self.target_heading - current_course
if course_error < -180.0:
course_error = course_error + 360
elif course_error > 180.0:
course_error = course_error - 360
target_roll = self.course_pid.calculateOutput(course_error)
roll_error = target_roll - current_roll
aileron = self.aileron_pid.calculateOutput(roll_error)
return aileron
class AltitudeHoldAutopilot(object):
def __init__(self, pitch_p, pitch_i, pitch_d, elevator_p, elevator_i, elevator_d, dt):
self.target_altitude = 1000.0
self.pitch_pid = PID(pitch_p, pitch_d, pitch_d, -15.0, 15.0, dt, 0.0)
self.elevator_pid = PID(elevator_p, elevator_i, elevator_d, -1.0, 1.0, dt, 200.0)
def set_target_altitude(self, altitude):
self.target_altitude = altitude
def get_elevator(self, current_altitude, current_pitch):
altitude_error = self.target_altitude - current_altitude
target_pitch = self.pitch_pid.calculateOutput(altitude_error)
pitch_error = target_pitch - current_pitch
elevator = -self.elevator_pid.calculateOutput(pitch_error)
return elevator
class AltitudeHoldAutopilot(object):
def __init__(self, pitch_p, pitch_i, pitch_d, elevator_p, elevator_i,
elevator_d, dt):
self.target_altitude = 1000.0
self.pitch_pid = PID(pitch_p, pitch_d, pitch_d, -15.0, 15.0, dt, 0.0)
self.elevator_pid = PID(elevator_p, elevator_i, elevator_d, -1.0, 1.0,
dt, 200.0)
def set_target_altitude(self, altitude):
self.target_altitude = altitude
def get_elevator(self, current_altitude, current_pitch):
altitude_error = self.target_altitude - current_altitude
target_pitch = self.pitch_pid.calculateOutput(altitude_error)
pitch_error = target_pitch - current_pitch
elevator = -self.elevator_pid.calculateOutput(pitch_error)
return elevator
class AirspeedHoldAutopilot(object):
def __init__(self, throttle_p, throttle_i, throttle_d, dt):
self.target_airspeed = 65.0
self.throttle_pid = PID(throttle_p, throttle_i, throttle_d, 0.0, 1.0, dt, 10.0)
def set_target_airspeed(self, airspeed):
self.target_airspeed = airspeed
def get_throttle(self, current_airspeed):
airspeed_error = self.target_airspeed - current_airspeed
return self.throttle_pid.calculateOutput(airspeed_error)
class AirspeedHoldAutopilot(object):
def __init__(self, throttle_p, throttle_i, throttle_d, dt):
self.target_airspeed = 65.0
self.throttle_pid = PID(throttle_p, throttle_i, throttle_d, 0.0, 1.0,
dt, 10.0)
def set_target_airspeed(self, airspeed):
self.target_airspeed = airspeed
def get_throttle(self, current_airspeed):
airspeed_error = self.target_airspeed - current_airspeed
return self.throttle_pid.calculateOutput(airspeed_error)
def __init__(self, throttle_p, throttle_i, throttle_d, dt):
self.target_airspeed = 65.0
self.throttle_pid = PID(throttle_p, throttle_i, throttle_d, 0.0, 1.0, dt, 10.0)
def __init__(self, roll_p, roll_i, roll_d, aileron_p, aileron_i, aileron_d, dt):
self.target_heading = 180.0
self.course_pid = PID(roll_p, roll_i, roll_d, -15.0, 15.0, dt, 0.0)
self.aileron_pid = PID(aileron_p, aileron_i, aileron_d, -1.0, 1.0, dt, 10.0)
def __init__(self, throttle_p, throttle_i, throttle_d, dt):
self.target_airspeed = 65.0
self.throttle_pid = PID(throttle_p, throttle_i, throttle_d, 0.0, 1.0,
dt, 10.0)
def __init__(self, pitch_p, pitch_i, pitch_d, elevator_p, elevator_i, elevator_d, dt):
self.target_altitude = 1000.0
self.pitch_pid = PID(pitch_p, pitch_d, pitch_d, -15.0, 15.0, dt, 0.0)
self.elevator_pid = PID(elevator_p, elevator_i, elevator_d, -1.0, 1.0, dt, 200.0)
