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LibrePilot/flight/libraries/math/pid.h

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/**
******************************************************************************
* @addtogroup OpenPilot Math Utilities
* @{
* @addtogroup Sine and cosine methods that use a cached lookup table
* @{
*
* @file pid.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Methods to work with PID structure
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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 3 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.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PID_H
#define PID_H
#include "mathmisc.h"
// !
struct pid {
float p;
float i;
float d;
float iLim;
float iAccumulator;
float lastErr;
float lastDer;
};
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typedef struct pid_scaler {
float p;
float i;
float d;
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} pid_scaler;
// ! Methods to use the pid structures
float pid_apply(struct pid *pid, const float err, float dT);
float pid_apply_setpoint(struct pid *pid, const pid_scaler *scaler, const float setpoint, const float measured, float dT);
void pid_zero(struct pid *pid);
void pid_configure(struct pid *pid, float p, float i, float d, float iLim);
void pid_configure_derivative(float cutoff, float gamma);
#endif /* PID_H */