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