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uncrustify libraries/AP_PID/AP_PID.cpp

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uncrustify 2012-08-16 23:20:59 -07:00 committed by Pat Hickey
parent 9c865a0d0d
commit 25eba0c383
1 changed files with 34 additions and 34 deletions
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68
libraries/AP_PID/AP_PID.cpp
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@ -14,52 +14,52 @@ AP_PID::AP_PID()
long
AP_PID::get_pid(int32_t error, uint16_t dt, float scaler)
{
float output = 0;
float delta_time = (float)dt / 1000.0;
float output = 0;
float 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
AP_PID::reset_I()
{
_integrator = 0;
_last_error = 0;
_last_derivative = 0;
_integrator = 0;
_last_error = 0;
_last_derivative = 0;
}