Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

uncrustify libraries/PID/PID.cpp

This commit is contained in:
uncrustify 2012-08-16 23:22:43 -07:00 committed by Pat Hickey
parent 1ddce0cdcb
commit f76768b73f
1 changed files with 54 additions and 54 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

108
libraries/PID/PID.cpp
View File

@ -8,88 +8,88 @@
#include "PID.h"
const AP_Param::GroupInfo PID::var_info[] PROGMEM = {
AP_GROUPINFO("P", 0, PID, _kp, 0),
AP_GROUPINFO("I", 1, PID, _ki, 0),
AP_GROUPINFO("D", 2, PID, _kd, 0),
AP_GROUPINFO("IMAX", 3, PID, _imax, 0),
AP_GROUPEND
AP_GROUPINFO("P", 0, PID, _kp, 0),
AP_GROUPINFO("I", 1, PID, _ki, 0),
AP_GROUPINFO("D", 2, PID, _kd, 0),
AP_GROUPINFO("IMAX", 3, PID, _imax, 0),
AP_GROUPEND
};
int32_t
PID::get_pid(int32_t error, float scaler)
{
uint32_t tnow = millis();
uint32_t dt = tnow - _last_t;
float output = 0;
float delta_time;
uint32_t tnow = millis();
uint32_t dt = tnow - _last_t;
float output = 0;
float delta_time;
if (_last_t == 0 || dt > 1000) {
dt = 0;
}
_last_t = tnow;
if (_last_t == 0 || dt > 1000) {
dt = 0;
}
_last_t = tnow;
delta_time = (float)dt / 1000.0;
delta_time = (float)dt / 1000.0;
// Compute proportional component
output += error * _kp;
// Compute proportional component
output += error * _kp;
// Compute derivative component if time has elapsed
if ((fabs(_kd) > 0) && (dt > 0)) {
float derivative = (error - _last_error) / delta_time;
// Compute derivative component if time has elapsed
if ((fabs(_kd) > 0) && (dt > 0)) {
float derivative = (error - _last_error) / delta_time;
// discrete low pass filter, cuts out the
// high frequency noise that can drive the controller crazy
float RC = 1/(2*M_PI*_fCut);
derivative = _last_derivative +
(delta_time / (RC + delta_time)) * (derivative - _last_derivative);
// discrete low pass filter, cuts out the
// high frequency noise that can drive the controller crazy
float RC = 1/(2*M_PI*_fCut);
derivative = _last_derivative +
(delta_time / (RC + delta_time)) * (derivative - _last_derivative);
// update state
_last_error = error;
_last_derivative = derivative;
// update state
_last_error = error;
_last_derivative = derivative;
// add in derivative component
output += _kd * derivative;
}
// add in derivative component
output += _kd * derivative;
}
// scale the P and D components
output *= scaler;
// scale the P and D components
output *= scaler;
// Compute integral component if time has elapsed
if ((fabs(_ki) > 0) && (dt > 0)) {
_integrator += (error * _ki) * scaler * delta_time;
if (_integrator < -_imax) {
_integrator = -_imax;
} else if (_integrator > _imax) {
_integrator = _imax;
}
output += _integrator;
}
// Compute integral component if time has elapsed
if ((fabs(_ki) > 0) && (dt > 0)) {
_integrator += (error * _ki) * scaler * delta_time;
if (_integrator < -_imax) {
_integrator = -_imax;
} else if (_integrator > _imax) {
_integrator = _imax;
}
output += _integrator;
}
return output;
return output;
}
void
PID::reset_I()
{
_integrator = 0;
_last_error = 0;
_last_derivative = 0;
_integrator = 0;
_last_error = 0;
_last_derivative = 0;
}
void
PID::load_gains()
{
_kp.load();
_ki.load();
_kd.load();
_imax.load();
_kp.load();
_ki.load();
_kd.load();
_imax.load();
}
void
PID::save_gains()
{
_kp.save();
_ki.save();
_kd.save();
_imax.save();
_kp.save();
_ki.save();
_kd.save();
_imax.save();
}