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Reinstate Float loading and saving

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1507 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
mich146@hotmail.com 2011-01-17 22:57:48 +00:00
parent 50c3b2e4fd
commit 0328f926b5
1 changed files with 16 additions and 16 deletions
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32
libraries/PID/PID.cpp
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@ -27,10 +27,10 @@ PID::get_pid(int32_t error, uint16_t dt, float scaler)
if (_kd && (dt > 0)) { if (_kd && (dt > 0)) {
float derivative = (error - _last_error) / delta_time; float derivative = (error - _last_error) / delta_time;
// discrete low pass filter, cuts out the // discrete low pass filter, cuts out the
// high frequency noise that can drive the controller crazy // high frequency noise that can drive the controller crazy
float RC = 1/(2*M_PI*_fCut); float RC = 1/(2*M_PI*_fCut);
derivative = _last_derivative + derivative = _last_derivative +
(delta_time / (RC + delta_time)) * (derivative - _last_derivative); (delta_time / (RC + delta_time)) * (derivative - _last_derivative);
// update state // update state
@ -43,10 +43,10 @@ PID::get_pid(int32_t error, uint16_t dt, float scaler)
// scale the P and D components // scale the P and D components
output *= scaler; output *= scaler;
// Compute integral component if time has elapsed // Compute integral component if time has elapsed
if (_ki && (dt > 0)) { if (_ki && (dt > 0)) {
_integrator += (error * _ki) * scaler * delta_time; _integrator += (error * _ki) * scaler * delta_time;
if (_integrator < -_imax) { if (_integrator < -_imax) {
_integrator = -_imax; _integrator = -_imax;
} else if (_integrator > _imax) { } else if (_integrator > _imax) {
@ -54,14 +54,14 @@ PID::get_pid(int32_t error, uint16_t dt, float scaler)
} }
output += _integrator; output += _integrator;
} }
return output; return output;
} }
void void
PID::imax(float v) PID::imax(float v)
{ {
_imax = fabs(v); _imax = fabs(v);
} }
void void
@ -77,19 +77,19 @@ PID::load_gains()
_ki = (float)(eeprom_read_word((uint16_t *) (_address + 2))) / 1000.0; _ki = (float)(eeprom_read_word((uint16_t *) (_address + 2))) / 1000.0;
_kd = (float)(eeprom_read_word((uint16_t *) (_address + 4))) / 1000.0; _kd = (float)(eeprom_read_word((uint16_t *) (_address + 4))) / 1000.0;
_imax = eeprom_read_word((uint16_t *) (_address + 6)) * 100; _imax = eeprom_read_word((uint16_t *) (_address + 6)) * 100;
//_kp = (float)_ee.read_int(_address) / 1000.0; //_kp = (float)_ee.read_int(_address) / 1000.0;
//_ki = (float)_ee.read_int(_address + 2) / 1000.0; //_ki = (float)_ee.read_int(_address + 2) / 1000.0;
//_kd = (float)_ee.read_int(_address + 4) / 1000.0; //_kd = (float)_ee.read_int(_address + 4) / 1000.0;
//_imax = (float)_ee.read_int(_address + 6) * 100; //_imax = (float)_ee.read_int(_address + 6) * 100;
break; break;
case STORE_EEPROM_FLOAT: case STORE_EEPROM_FLOAT:
//eeprom_read_block((void*)&_kp,(const void*)(_address),sizeof(_kp)); eeprom_read_block((void*)&_kp,(const void*)(_address),sizeof(_kp));
//eeprom_read_block((void*)&_ki,(const void*)(_address+4),sizeof(_ki)); eeprom_read_block((void*)&_ki,(const void*)(_address+4),sizeof(_ki));
//eeprom_read_block((void*)&_kd,(const void*)(_address+8),sizeof(_kd)); eeprom_read_block((void*)&_kd,(const void*)(_address+8),sizeof(_kd));
//eeprom_read_block((void*)&_imax,(const void*)(_address+12),sizeof(_imax)); eeprom_read_block((void*)&_imax,(const void*)(_address+12),sizeof(_imax));
break; break;
} }
} }
@ -115,10 +115,10 @@ PID::save_gains()
*/ */
break; break;
case STORE_EEPROM_FLOAT: case STORE_EEPROM_FLOAT:
//eeprom_write_block((const void *)&_kp,(void *)(_address),sizeof(_kp)); eeprom_write_block((const void *)&_kp,(void *)(_address),sizeof(_kp));
//eeprom_write_block((const void *)&_ki,(void *)(_address+4),sizeof(_ki)); eeprom_write_block((const void *)&_ki,(void *)(_address+4),sizeof(_ki));
//eeprom_write_block((const void *)&_kd,(void *)(_address+8),sizeof(_kd)); eeprom_write_block((const void *)&_kd,(void *)(_address+8),sizeof(_kd));
//eeprom_write_block((const void *)&_imax,(void *)(_address+12),sizeof(_imax)); eeprom_write_block((const void *)&_imax,(void *)(_address+12),sizeof(_imax));
break; break;
} }
} }