Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-02 05:58:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

uncrustify libraries/AC_PID/AC_PID.cpp

Browse Source
This commit is contained in:
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

74
libraries/AC_PID/AC_PID.cpp Executable file → Normal file
View File

@ -21,7 +21,7 @@ int32_t AC_PID::get_p(int32_t error)
int32_t AC_PID::get_i(int32_t error, float dt)
{
if((_ki != 0) && (dt != 0)){
if((_ki != 0) && (dt != 0)) {
_integrator += ((float)error * _ki) * dt;
if (_integrator < -_imax) {
_integrator = -_imax;
@ -67,42 +67,42 @@ 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
_output = error * _kp;
// Compute derivative component if time has elapsed
if ((fabs(_kd) > 0) && (dt > 0)) {
_derivative = (error - _last_error) / dt;
// discrete low pass filter, cuts out the
// high frequency noise that can drive the controller crazy
_derivative = _last_derivative +
(dt / ( _filter + dt)) * (_derivative - _last_derivative);
// update state
_last_error = error;
_last_derivative = _derivative;
// add in derivative component
_output += _kd * _derivative;
}
// Compute integral component if time has elapsed
if ((fabs(_ki) > 0) && (dt > 0)) {
_integrator += (error * _ki) * dt;
if (_integrator < -_imax) {
_integrator = -_imax;
} else if (_integrator > _imax) {
_integrator = _imax;
}
_output += _integrator;
}
return _output;
}
*/
* int32_t AC_PID::get_pid(int32_t error, float dt)
* {
* // Compute proportional component
* _output = error * _kp;
*
* // Compute derivative component if time has elapsed
* if ((fabs(_kd) > 0) && (dt > 0)) {
* _derivative = (error - _last_error) / dt;
*
* // discrete low pass filter, cuts out the
* // high frequency noise that can drive the controller crazy
* _derivative = _last_derivative +
* (dt / ( _filter + dt)) * (_derivative - _last_derivative);
*
* // update state
* _last_error = error;
* _last_derivative = _derivative;
*
* // add in derivative component
* _output += _kd * _derivative;
* }
*
* // Compute integral component if time has elapsed
* if ((fabs(_ki) > 0) && (dt > 0)) {
* _integrator += (error * _ki) * dt;
* if (_integrator < -_imax) {
* _integrator = -_imax;
* } else if (_integrator > _imax) {
* _integrator = _imax;
* }
* _output += _integrator;
* }
*
* return _output;
* }
*/
void