forked from Archive/PX4-Autopilot
41 lines
925 B
C
41 lines
925 B
C
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/*
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* pid.h
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*
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* Created on: May 29, 2012
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* Author: thomasgubler
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*/
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#ifndef PID_H_
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#define PID_H_
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#include <stdint.h>
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/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error
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* val_dot in pid_calculate() will be ignored */
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#define PID_MODE_DERIVATIV_CALC 0
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/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */
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#define PID_MODE_DERIVATIV_SET 1
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typedef struct {
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float kp;
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float ki;
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float kd;
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float intmax;
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float sp;
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float integral;
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float error_previous;
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uint8_t mode;
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uint8_t plot_i;
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uint8_t count;
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uint8_t saturated;
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} PID_t;
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void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode, uint8_t plot_i);
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void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax);
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//void pid_set(PID_t *pid, float sp);
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float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
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#endif /* PID_H_ */
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