/** ****************************************************************************** * @addtogroup OpenPilot Math Utilities * @{ * @addtogroup Sine and cosine methods that use a cached lookup table * @{ * * @file pid.h * * @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016. * 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; }; // pid2 structure for a PID+setpoint weighting, anti-windup and filtered derivative control struct pid2 { float u0; // Initial value of r & y - for bumpless transfer float va; // Actuator float vb; float kp; // proportional gain float bi; // Integral gain . dT float ad; // Filtered factor for derivative calculation float bd; // Constant for derivative calculation float br; // Time constant for integral calculation float beta; // Scalar for proportional factor float yold; // t-1 y value for Integral calculation float P; // Latest calculated P, I & D values float I; float D; uint8_t reconfigure; }; typedef struct pid_scaler_s { float p; float i; float d; } 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, bool meas_based_d_term); 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); // Methods for use with pid2 structure void pid2_configure(struct pid2 *pid, float kp, float ki, float kd, float Tf, float kt, float dT, float beta, float u0, float va, float vb); void pid2_transfer(struct pid2 *pid, float u0); float pid2_apply(struct pid2 *pid, const float r, const float y, float ulow, float uhigh); #endif /* PID_H */