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86 lines
3.0 KiB
C
86 lines
3.0 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.h
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*
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
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* 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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#ifndef PID_H
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#define PID_H
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#include "mathmisc.h"
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// !
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struct pid {
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float p;
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float i;
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float d;
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float iLim;
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float iAccumulator;
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float lastErr;
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float lastDer;
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};
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// pid2 structure for a PID+setpoint weighting, anti-windup and filtered derivative control
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struct pid2 {
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float u0; // Initial value of r & y - for bumpless transfer
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float va; // Actuator
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float vb;
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float kp; // proportional gain
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float bi; // Integral gain . dT
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float ad; // Filtered factor for derivative calculation
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float bd; // Constant for derivative calculation
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float br; // Time constant for integral calculation
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float beta; // Scalar for proportional factor
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float yold; // t-1 y value for Integral calculation
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float P; // Latest calculated P, I & D values
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float I;
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float D;
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uint8_t reconfigure;
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};
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typedef struct pid_scaler_s {
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float p;
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float i;
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float d;
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} pid_scaler;
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// ! Methods to use the pid structures
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float pid_apply(struct pid *pid, const float err, float dT);
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float pid_apply_setpoint(struct pid *pid, const pid_scaler *scaler, const float setpoint, const float measured, float dT, bool meas_based_d_term);
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void pid_zero(struct pid *pid);
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void pid_configure(struct pid *pid, float p, float i, float d, float iLim);
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void pid_configure_derivative(float cutoff, float gamma);
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// Methods for use with pid2 structure
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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);
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void pid2_transfer(struct pid2 *pid, float u0);
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float pid2_apply(struct pid2 *pid, const float r, const float y, float ulow, float uhigh);
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#endif /* PID_H */
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