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157 lines
4.8 KiB
C
157 lines
4.8 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilot Math Utilities
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* @{
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* @addtogroup Sine and cosine methods that use a cached lookup table
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* @{
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*
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* @file pid.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief Methods to work with PID structure
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "openpilot.h"
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#include "pid.h"
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#include <pios_math.h>
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// ! Private method
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static float bound(float val, float range);
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// ! Store the shared time constant for the derivative cutoff.
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static float deriv_tau = 7.9577e-3f;
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// ! Store the setpoint weight to apply for the derivative term
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static float deriv_gamma = 1.0f;
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/**
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* Update the PID computation
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* @param[in] pid The PID struture which stores temporary information
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* @param[in] err The error term
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* @param[in] dT The time step
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* @returns Output the computed controller value
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*/
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float pid_apply(struct pid *pid, const float err, float dT)
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{
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// Scale up accumulator by 1000 while computing to avoid losing precision
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pid->iAccumulator += err * (pid->i * dT * 1000.0f);
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pid->iAccumulator = bound(pid->iAccumulator, pid->iLim * 1000.0f);
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// Calculate DT1 term
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float diff = (err - pid->lastErr);
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float dterm = 0;
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pid->lastErr = err;
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if (pid->d > 0.0f && dT > 0.0f) {
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dterm = pid->lastDer + dT / (dT + deriv_tau) * ((diff * pid->d / dT) - pid->lastDer);
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pid->lastDer = dterm; // ^ set constant to 1/(2*pi*f_cutoff)
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} // 7.9577e-3 means 20 Hz f_cutoff
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return (err * pid->p) + pid->iAccumulator / 1000.0f + dterm;
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}
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/**
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* Update the PID computation with setpoint weighting on the derivative
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* @param[in] pid The PID struture which stores temporary information
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* @param[in] setpoint The setpoint to use
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* @param[in] measured The measured value of output
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* @param[in] dT The time step
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* @returns Output the computed controller value
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*
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* This version of apply uses setpoint weighting for the derivative component so the gain
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* on the gyro derivative can be different than the gain on the setpoint derivative
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*/
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float pid_apply_setpoint(struct pid *pid, const float setpoint, const float measured, float dT)
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{
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float err = setpoint - measured;
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// Scale up accumulator by 1000 while computing to avoid losing precision
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pid->iAccumulator += err * (pid->i * dT * 1000.0f);
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pid->iAccumulator = bound(pid->iAccumulator, pid->iLim * 1000.0f);
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// Calculate DT1 term,
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float dterm = 0;
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float diff = ((deriv_gamma * setpoint - measured) - pid->lastErr);
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pid->lastErr = (deriv_gamma * setpoint - measured);
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if (pid->d > 0.0f && dT > 0.0f) {
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dterm = pid->lastDer + dT / (dT + deriv_tau) * ((diff * pid->d / dT) - pid->lastDer);
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pid->lastDer = dterm; // ^ set constant to 1/(2*pi*f_cutoff)
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} // 7.9577e-3 means 20 Hz f_cutoff
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return (err * pid->p) + pid->iAccumulator / 1000.0f + dterm;
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}
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/**
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* Reset a bit
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* @param[in] pid The pid to reset
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*/
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void pid_zero(struct pid *pid)
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{
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if (!pid) {
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return;
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}
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pid->iAccumulator = 0;
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pid->lastErr = 0;
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pid->lastDer = 0;
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}
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/**
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* @brief Configure the common terms that alter ther derivative
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* @param[in] cutoff The cutoff frequency (in Hz)
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* @param[in] gamma The gamma term for setpoint shaping (unsused now)
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*/
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void pid_configure_derivative(float cutoff, float g)
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{
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deriv_tau = 1.0f / (2 * M_PI_F * cutoff);
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deriv_gamma = g;
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}
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/**
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* Configure the settings for a pid structure
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* @param[out] pid The PID structure to configure
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* @param[in] p The proportional term
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* @param[in] i The integral term
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* @param[in] d The derivative term
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*/
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void pid_configure(struct pid *pid, float p, float i, float d, float iLim)
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{
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if (!pid) {
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return;
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}
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pid->p = p;
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pid->i = i;
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pid->d = d;
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pid->iLim = iLim;
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}
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/**
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* Bound input value between limits
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*/
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static float bound(float val, float range)
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{
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if (val < -range) {
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val = -range;
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} else if (val > range) {
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val = range;
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}
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return val;
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}
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