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https://bitbucket.org/librepilot/librepilot.git
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e4a167dca1
This version allows performing setpoint weighting, currently on the derivative component.
52 lines
1.7 KiB
C
52 lines
1.7 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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* @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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#ifndef PID_H
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#define PID_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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//! 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 float setpoint, const float measured, float dT);
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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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#endif /* PID_H */ |