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LibrePilot/flight/libraries/math/pid.h
2017-03-09 19:43:23 +01:00

86 lines
3.0 KiB
C

/**
******************************************************************************
* @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 */