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PID: change to float input/output

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this makes the PID library a bit more flexible for smaller range
numbers. Note that this library is used on ArduPlane and Rover, not
Copter
This commit is contained in:
Andrew Tridgell 2013-02-09 20:36:13 +11:00
parent 6cf4d11e33
commit fe964fcda0
2 changed files with 4 additions and 8 deletions
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2
libraries/PID/PID.cpp
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@ -19,7 +19,7 @@ const AP_Param::GroupInfo PID::var_info[] PROGMEM = {
AP_GROUPEND
};
int32_t PID::get_pid(int32_t error, float scaler)
float PID::get_pid(float error, float scaler)
{
uint32_t tnow = hal.scheduler->millis();
uint32_t dt = tnow - _last_t;

10
libraries/PID/PID.h
View File

@ -36,15 +36,11 @@ public:
/// Positive error produces positive output.
///
/// @param error The measured error value
/// @param dt The time delta in milliseconds (note
/// that update interval cannot be more
/// than 65.535 seconds due to limited range
/// of the data type).
/// @param scaler An arbitrary scale factor
///
/// @returns The updated control output.
///
int32_t get_pid(int32_t error, float scaler = 1.0);
float get_pid(float error, float scaler = 1.0);
/// Reset the PID integrator
///
@ -108,11 +104,11 @@ private:
AP_Int16 _imax;
float _integrator;///< integrator value
int32_t _last_error;///< last error for derivative
float _last_error;///< last error for derivative
float _last_derivative;///< last derivative for low-pass filter
uint32_t _last_t;///< last time get_pid() was called in millis
int32_t _get_pid(int32_t error, uint16_t dt, float scaler);
float _get_pid(float error, uint16_t dt, float scaler);
/// Low pass filter cut frequency for derivative calculation.
///