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47 Commits

Author SHA1 Message Date
Ricardo de Almeida Gonzaga 287eb69502 PID: Fix typos 2016-05-13 19:20:05 -03:00
Ricardo de Almeida Gonzaga 5bd034a5a8 Global: start using cmath instead of math.h 2016-04-05 21:06:19 -07:00
Lucas De Marchi 96c30aea39 PID: replace header guard with pragma once 2016-03-16 18:40:44 +11:00
Gustavo Jose de Sousa e925820d90 PID: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:38:25 +10:00
Tom Pittenger f3d13656ba PID: fix compile warnings re float constants 2015-04-24 14:04:24 +09:00
Andrew Tridgell 6862791d66 PID: fixed indent-tabs-mode 2013-05-30 09:50:37 +10:00
Andrew Tridgell 6123ea2dac PID: added get_pid_4500() 
this is a version of get_pid() that returns an int16_t constrained to
-4500 to 4500. This will prevent overflow errors for large PID gains
in ArduPlane and Rover
 2013-04-01 22:17:04 +11:00
Andrew Tridgell fe964fcda0 PID: change to float input/output 
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
 2013-02-09 20:36:26 +11:00
Andrew Tridgell 306d53b4ae PID: updates for new AP_Param API 2012-12-20 14:51:39 +11:00
Pat Hickey 39d14c8a93 PID: ported to AP_HAL 2012-12-20 14:51:31 +11:00
Pat Hickey 3f1d9d7f69 AP_Param: #include <AP_Param.h> fixups for libraries & sketches 
* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.
 2012-12-20 14:51:19 +11:00
Andrew Tridgell 816fe9d35a PID: use NAN to flag a D reset 
this saves a byte per PID for a flag, and gives us a safe way to
reset_I() without causing a spike in D
 2012-11-27 18:41:31 +11:00
uncrustify 13e0dd2c70 uncrustify libraries/PID/PID.h 2012-08-21 19:04:31 -07:00
Andrew Tridgell 5e8fe8d93e AP_Param: update PID libraries for new constructor syntax 2012-08-08 12:11:57 +10:00
Andrew Tridgell f6d7d1bc59 APM: changed PID library to do automatic deltat calculation 
this fixes a problem with the HDNG2RLL PID, which was using the wrong
time base and prevents similar bugs from happening in the future
 2012-07-06 19:59:18 +10:00
Andrew Tridgell 150a67c262 fixed PID initialisation 2012-02-13 16:22:53 +11:00
Andrew Tridgell f760b3c717 restore _fCut that was lost in AP_Param development 2012-02-13 16:22:51 +11:00
Andrew Tridgell e5a0074312 modify the PID library for AP_Param 2012-02-13 16:22:51 +11:00
jasonshort 4ec8805216 Reverted to older PID. Restored the older filter, and removed PI command. I am no longer using PID for the quad and have switched to PIPI loops which perform much better. The D term in this class is not that great. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3241 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 17:47:07 +00:00
jasonshort d192ceb8f8 upped D filter to 6 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3096 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-14 05:44:29 +00:00
jasonshort 915a564b8f Changed the PID derivative filter to a moving average with 4 samples. Having great luck with it and High kD when using noisy sensors. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2957 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-29 21:52:37 +00:00
tridge60@gmail.com cf68e31729 fixed warnings in PID.h 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2560 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-15 12:25:00 +00:00
jasonshort 5a22080484 I am Adding A "PI" loop to the mix. This is a need for AC2. We can optimize the internals later, but I basically duped the get_PID and removed the D term internals. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2338 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-16 16:05:49 +00:00
tridge60@gmail.com 860998d337 implemented typesafe PSTR() 
This makes PSTR() type safe by using a 1 byte wrapper
structure. Attempts to use the wrong varient of a print function will
generate a compilation error.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1797 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-21 07:25:48 +00:00
jasonshort 240a3a2f2a quick.fix 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1688 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-19 21:01:32 +00:00
DrZiplok@gmail.com 944825772d Use AP_Var to store PID scaling values. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1652 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 04:45:31 +00:00
jasonshort c9227dbcaf fixed a scaling bug in imax 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1553 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-24 02:07:25 +00:00
jasonshort 55667fd905 removed EEPROMB references 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1315 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-28 18:42:56 +00:00
james.goppert 6c10842562 Fixed PID error for low pass filter. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1295 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-27 05:59:49 +00:00
jasonshort 68eec6805a update use EEPROM class, new scaled input for RC_Channel 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1264 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-26 01:17:04 +00:00
jasonshort f64fab442d added ability to get the integrator for debugging 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1117 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-13 04:05:55 +00:00
james.goppert d13850c941 Added load_gains to PID constructor. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1055 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-06 11:52:31 +00:00
james.goppert 665dbefbd4 Added storage options to PID. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1011 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-04 10:32:19 +00:00
DrZiplok@gmail.com a64c5ef782 Correct misunderstanding about the intent of the external gain array. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@978 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-28 21:51:10 +00:00
DrZiplok@gmail.com 72cf1b4e57 Add a default ctor; due to 0 being magic, PID pid(0) is ambiguous. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@959 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-27 20:30:53 +00:00
DrZiplok@gmail.com 73eab31d0c Shrink the ctor slightly more 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@942 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-27 00:58:01 +00:00
DrZiplok@gmail.com e699812af4 Don't zero fields in the ctor that can be zeroed by reset_I; the code gets replicated for every static instance of the class, which is obscene. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@941 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-27 00:54:21 +00:00
DrZiplok@gmail.com 9a45c2babc Re-type delta t, explicitly size error args to get_pid. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@936 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-26 04:36:43 +00:00
james.goppert f04e58c6b3 Added default scalar of 1 to PID. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@935 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-26 03:16:37 +00:00
DrZiplok@gmail.com 342b759fea Move the eeprom.h include out of the header, it's not needed there. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@933 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-26 01:54:47 +00:00
DrZiplok@gmail.com 52abef58d5 More syntax, etc. fixes. Compiles OK now. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@932 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-26 01:53:12 +00:00
DrZiplok@gmail.com dc40ee00ae Fix accessors, _RC 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@931 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-26 01:45:17 +00:00
DrZiplok 264cca6d24 With apologies to Jason for breaking his branch, clean this up and document it. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@930 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-26 01:30:21 +00:00
james.goppert 3ca85f94d4 Checked for dt>0 in PID and modified ctor 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@929 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-26 00:06:06 +00:00
james.goppert 7598c02f51 Added load/save gain overloads for float arrays to PID, 
supports mavlink style gain get/set now


git-svn-id: https://arducopter.googlecode.com/svn/trunk@928 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-25 23:26:44 +00:00
james.goppert 00e7f9b6d0 Added lowpass filter on PID lib derivative calc 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@927 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-25 23:14:37 +00:00
jasonshort e7b26da27d A simple OO PID library 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@742 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-10-28 04:59:24 +00:00