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Code Issues Releases Activity

refactored pid_apply_scaled back into pid_apply (rename only)

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This commit is contained in:
Corvus Corax 2013-08-11 15:12:17 +02:00
parent ae1db5058e
commit 0724fca32a
3 changed files with 6 additions and 6 deletions
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2
flight/libraries/math/pid.c
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@ -78,7 +78,7 @@ float pid_apply(struct pid *pid, const float err, float dT)
* This version of apply uses setpoint weighting for the derivative component so the gain * This version of apply uses setpoint weighting for the derivative component so the gain
* on the gyro derivative can be different than the gain on the setpoint derivative * on the gyro derivative can be different than the gain on the setpoint derivative
*/ */
float pid_apply_setpoint_scaled(struct pid *pid, const float factor, const float setpoint, const float measured, float dT) float pid_apply_setpoint(struct pid *pid, const float factor, const float setpoint, const float measured, float dT)
{ {
float err = setpoint - measured; float err = setpoint - measured;

2
flight/libraries/math/pid.h
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@ -44,7 +44,7 @@ struct pid {
// ! Methods to use the pid structures // ! Methods to use the pid structures
float pid_apply(struct pid *pid, const float err, float dT); float pid_apply(struct pid *pid, const float err, float dT);
float pid_apply_setpoint_scaled(struct pid *pid, const float factor, const float setpoint, const float measured, float dT); float pid_apply_setpoint(struct pid *pid, const float factor, const float setpoint, const float measured, float dT);
void pid_zero(struct pid *pid); void pid_zero(struct pid *pid);
void pid_configure(struct pid *pid, float p, float i, float d, float iLim); void pid_configure(struct pid *pid, float p, float i, float d, float iLim);
void pid_configure_derivative(float cutoff, float gamma); void pid_configure_derivative(float cutoff, float gamma);

8
flight/modules/Stabilization/stabilization.c
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@ -290,7 +290,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
rateDesiredAxis[i] = bound(attitudeDesiredAxis[i], settings.ManualRate[i]); rateDesiredAxis[i] = bound(attitudeDesiredAxis[i], settings.ManualRate[i]);
// Compute the inner loop // Compute the inner loop
actuatorDesiredAxis[i] = pid_apply_setpoint_scaled(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT); actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f); actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
break; break;
@ -306,7 +306,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
rateDesiredAxis[i] = bound(rateDesiredAxis[i], settings.MaximumRate[i]); rateDesiredAxis[i] = bound(rateDesiredAxis[i], settings.MaximumRate[i]);
// Compute the inner loop // Compute the inner loop
actuatorDesiredAxis[i] = pid_apply_setpoint_scaled(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT); actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f); actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
break; break;
@ -332,7 +332,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
// Compute desired rate as input biased towards leveling // Compute desired rate as input biased towards leveling
rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling; rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
actuatorDesiredAxis[i] = pid_apply_setpoint_scaled(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT); actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f); actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
break; break;
@ -356,7 +356,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
rateDesiredAxis[i] = bound(rateDesiredAxis[i], settings.ManualRate[i]); rateDesiredAxis[i] = bound(rateDesiredAxis[i], settings.ManualRate[i]);
actuatorDesiredAxis[i] = pid_apply_setpoint_scaled(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT); actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f); actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
break; break;