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uncrustify libraries/AC_PID/AC_PID.cpp

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uncrustify 2012-08-16 22:37:26 -07:00 committed by Pat Hickey
parent 2f5b292d50
commit 66ab46fa88
1 changed files with 79 additions and 79 deletions
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70
libraries/AC_PID/AC_PID.cpp Executable file → Normal file
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@ -67,41 +67,41 @@ int32_t AC_PID::get_pid(int32_t error, float dt)
/* /*
int32_t AC_PID::get_pid(int32_t error, float dt) * int32_t AC_PID::get_pid(int32_t error, float dt)
{ * {
// Compute proportional component * // Compute proportional component
_output = error * _kp; * _output = error * _kp;
*
// Compute derivative component if time has elapsed * // Compute derivative component if time has elapsed
if ((fabs(_kd) > 0) && (dt > 0)) { * if ((fabs(_kd) > 0) && (dt > 0)) {
_derivative = (error - _last_error) / dt; * _derivative = (error - _last_error) / dt;
*
// 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
_derivative = _last_derivative + * _derivative = _last_derivative +
(dt / ( _filter + dt)) * (_derivative - _last_derivative); * (dt / ( _filter + dt)) * (_derivative - _last_derivative);
*
// update state * // update state
_last_error = error; * _last_error = error;
_last_derivative = _derivative; * _last_derivative = _derivative;
*
// add in derivative component * // add in derivative component
_output += _kd * _derivative; * _output += _kd * _derivative;
} * }
*
// Compute integral component if time has elapsed * // Compute integral component if time has elapsed
if ((fabs(_ki) > 0) && (dt > 0)) { * if ((fabs(_ki) > 0) && (dt > 0)) {
_integrator += (error * _ki) * dt; * _integrator += (error * _ki) * dt;
if (_integrator < -_imax) { * if (_integrator < -_imax) {
_integrator = -_imax; * _integrator = -_imax;
} else if (_integrator > _imax) { * } else if (_integrator > _imax) {
_integrator = _imax; * _integrator = _imax;
} * }
_output += _integrator; * _output += _integrator;
} * }
*
return _output; * return _output;
} * }
*/ */