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77 lines
2.9 KiB
77 lines
2.9 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. |
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* Author: @author Laurens Mackay <mackayl@student.ethz.ch> |
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* @author Tobias Naegeli <naegelit@student.ethz.ch> |
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* @author Martin Rutschmann <rutmarti@student.ethz.ch> |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* @file pid.h |
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* Definition of generic PID control interface |
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*/ |
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#ifndef PID_H_ |
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#define PID_H_ |
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#include <stdint.h> |
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/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error |
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* val_dot in pid_calculate() will be ignored */ |
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#define PID_MODE_DERIVATIV_CALC 0 |
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/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */ |
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#define PID_MODE_DERIVATIV_SET 1 |
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// Use PID_MODE_DERIVATIV_NONE for a PI controller (vs PID) |
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#define PID_MODE_DERIVATIV_NONE 9 |
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typedef struct { |
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float kp; |
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float ki; |
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float kd; |
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float intmax; |
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float sp; |
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float integral; |
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float error_previous; |
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float last_output; |
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float limit; |
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uint8_t mode; |
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uint8_t count; |
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uint8_t saturated; |
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} PID_t; |
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__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, uint8_t mode); |
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__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit); |
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//void pid_set(PID_t *pid, float sp); |
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__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt); |
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#endif /* PID_H_ */
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