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LibrePilot/flight/libraries/math/pid.c

157 lines
4.8 KiB
C

/**
******************************************************************************
* @addtogroup OpenPilot Math Utilities
* @{
* @addtogroup Sine and cosine methods that use a cached lookup table
* @{
*
* @file pid.c
* @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
*/
#include "openpilot.h"
#include "pid.h"
#include <pios_math.h>
// ! Private method
static float bound(float val, float range);
// ! Store the shared time constant for the derivative cutoff.
static float deriv_tau = 7.9577e-3f;
// ! Store the setpoint weight to apply for the derivative term
static float deriv_gamma = 1.0f;
/**
* Update the PID computation
* @param[in] pid The PID struture which stores temporary information
* @param[in] err The error term
* @param[in] dT The time step
* @returns Output the computed controller value
*/
float pid_apply(struct pid *pid, const float err, float dT)
{
// Scale up accumulator by 1000 while computing to avoid losing precision
pid->iAccumulator += err * (pid->i * dT * 1000.0f);
pid->iAccumulator = bound(pid->iAccumulator, pid->iLim * 1000.0f);
// Calculate DT1 term
float diff = (err - pid->lastErr);
float dterm = 0;
pid->lastErr = err;
if (pid->d > 0.0f && dT > 0.0f) {
dterm = pid->lastDer + dT / (dT + deriv_tau) * ((diff * pid->d / dT) - pid->lastDer);
pid->lastDer = dterm; // ^ set constant to 1/(2*pi*f_cutoff)
} // 7.9577e-3 means 20 Hz f_cutoff
return (err * pid->p) + pid->iAccumulator / 1000.0f + dterm;
}
/**
* Update the PID computation with setpoint weighting on the derivative
* @param[in] pid The PID struture which stores temporary information
* @param[in] setpoint The setpoint to use
* @param[in] measured The measured value of output
* @param[in] dT The time step
* @returns Output the computed controller value
*
* 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
*/
float pid_apply_setpoint(struct pid *pid, const float setpoint, const float measured, float dT)
{
float err = setpoint - measured;
// Scale up accumulator by 1000 while computing to avoid losing precision
pid->iAccumulator += err * (pid->i * dT * 1000.0f);
pid->iAccumulator = bound(pid->iAccumulator, pid->iLim * 1000.0f);
// Calculate DT1 term,
float dterm = 0;
float diff = ((deriv_gamma * setpoint - measured) - pid->lastErr);
pid->lastErr = (deriv_gamma * setpoint - measured);
if (pid->d > 0.0f && dT > 0.0f) {
dterm = pid->lastDer + dT / (dT + deriv_tau) * ((diff * pid->d / dT) - pid->lastDer);
pid->lastDer = dterm; // ^ set constant to 1/(2*pi*f_cutoff)
} // 7.9577e-3 means 20 Hz f_cutoff
return (err * pid->p) + pid->iAccumulator / 1000.0f + dterm;
}
/**
* Reset a bit
* @param[in] pid The pid to reset
*/
void pid_zero(struct pid *pid)
{
if (!pid) {
return;
}
pid->iAccumulator = 0;
pid->lastErr = 0;
pid->lastDer = 0;
}
/**
* @brief Configure the common terms that alter ther derivative
* @param[in] cutoff The cutoff frequency (in Hz)
* @param[in] gamma The gamma term for setpoint shaping (unsused now)
*/
void pid_configure_derivative(float cutoff, float g)
{
deriv_tau = 1.0f / (2 * M_PI_F * cutoff);
deriv_gamma = g;
}
/**
* Configure the settings for a pid structure
* @param[out] pid The PID structure to configure
* @param[in] p The proportional term
* @param[in] i The integral term
* @param[in] d The derivative term
*/
void pid_configure(struct pid *pid, float p, float i, float d, float iLim)
{
if (!pid) {
return;
}
pid->p = p;
pid->i = i;
pid->d = d;
pid->iLim = iLim;
}
/**
* Bound input value between limits
*/
static float bound(float val, float range)
{
if (val < -range) {
val = -range;
} else if (val > range) {
val = range;
}
return val;
}