rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-01 09:24:10 +01:00
Code Issues Releases Activity

Revert "Drop 8 bytes per PID of unecessary information. Also trying to compute"

Browse Source 
This reverts commit 9c1e523260.
This commit is contained in:
James Cotton 2011-07-12 11:37:36 -05:00
parent 010f0255a4
commit 3b3b76aa46
1 changed files with 13 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
flight/Modules/Stabilization/stabilization.c
View File

@ -66,8 +66,10 @@ enum {ROLL,PITCH,YAW,MAX_AXES};
typedef struct {
float p;
float i;
float d;
float iLim;
float iAccumulator;
float lastErr;
} pid_type;
// Private variables
@ -285,14 +287,17 @@ static void stabilizationTask(void* parameters)
float ApplyPid(pid_type * pid, const float err)
{
// Scale up accumulator by 1000 while computing to avoid losing precision
pid->iAccumulator += err * (pid->i * dT * 1000);
if(pid->iAccumulator > (pid->iLim * 1000)) {
pid->iAccumulator = pid->iLim * 1000;
} else if (pid->iAccumulator < -(pid->iLim * 1000)) {
pid->iAccumulator = -pid->iLim * 1000;
float diff = (err - pid->lastErr);
pid->lastErr = err;
pid->iAccumulator += err * pid->i * dT;
if(fabs(pid->iAccumulator) > pid->iLim) {
if(pid->iAccumulator >0) {
pid->iAccumulator = pid->iLim;
} else {
pid->iAccumulator = -pid->iLim;
}
}
return (err * pid->p) + pid->iAccumulator / 1000;
return ((err * pid->p) + pid->iAccumulator + (diff * pid->d / dT));
}
@ -300,6 +305,7 @@ static void ZeroPids(void)
{
for(int8_t ct = 0; ct < PID_MAX; ct++) {
pids[ct].iAccumulator = 0;
pids[ct].lastErr = 0;
}
}