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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Moved last libs, drivers and headers, cleaned up IO build
This commit is contained in:
Lorenz Meier
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/****************************************************************************
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*
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
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* Author: @author Laurens Mackay <mackayl@student.ethz.ch>
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* @author Tobias Naegeli <naegelit@student.ethz.ch>
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* @author Martin Rutschmann <rutmarti@student.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file pid.c
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* Implementation of generic PID control interface
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*/
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#include "pid.h"
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#include <math.h>
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__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
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float limit, uint8_t mode)
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{
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pid->kp = kp;
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pid->ki = ki;
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pid->kd = kd;
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pid->intmax = intmax;
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pid->limit = limit;
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pid->mode = mode;
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pid->count = 0;
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pid->saturated = 0;
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pid->last_output = 0;
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pid->sp = 0;
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pid->error_previous = 0;
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pid->integral = 0;
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}
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__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit)
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{
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int ret = 0;
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if (isfinite(kp)) {
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pid->kp = kp;
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} else {
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ret = 1;
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}
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if (isfinite(ki)) {
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pid->ki = ki;
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} else {
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ret = 1;
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}
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if (isfinite(kd)) {
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pid->kd = kd;
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} else {
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ret = 1;
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}
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if (isfinite(intmax)) {
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pid->intmax = intmax;
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} else {
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ret = 1;
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}
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if (isfinite(limit)) {
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pid->limit = limit;
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} else {
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ret = 1;
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}
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return ret;
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}
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//void pid_set(PID_t *pid, float sp)
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//{
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// pid->sp = sp;
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// pid->error_previous = 0;
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// pid->integral = 0;
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//}
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/**
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*
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* @param pid
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* @param val
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* @param dt
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* @return
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*/
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__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt)
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{
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/* error = setpoint - actual_position
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integral = integral + (error*dt)
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derivative = (error - previous_error)/dt
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output = (Kp*error) + (Ki*integral) + (Kd*derivative)
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previous_error = error
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wait(dt)
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goto start
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*/
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if (!isfinite(sp) || !isfinite(val) || !isfinite(val_dot) || !isfinite(dt)) {
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return pid->last_output;
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}
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float i, d;
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pid->sp = sp;
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// Calculated current error value
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float error = pid->sp - val;
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if (isfinite(error)) { // Why is this necessary? DEW
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pid->error_previous = error;
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}
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// Calculate or measured current error derivative
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if (pid->mode == PID_MODE_DERIVATIV_CALC) {
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d = (error - pid->error_previous) / dt;
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} else if (pid->mode == PID_MODE_DERIVATIV_SET) {
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d = -val_dot;
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} else {
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d = 0.0f;
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}
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// Calculate the error integral and check for saturation
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i = pid->integral + (error * dt);
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if (fabsf((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit ||
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fabsf(i) > pid->intmax) {
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i = pid->integral; // If saturated then do not update integral value
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pid->saturated = 1;
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} else {
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if (!isfinite(i)) {
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i = 0;
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}
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pid->integral = i;
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pid->saturated = 0;
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}
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// Calculate the output. Limit output magnitude to pid->limit
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float output = (pid->error_previous * pid->kp) + (i * pid->ki) + (d * pid->kd);
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if (output > pid->limit) output = pid->limit;
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if (output < -pid->limit) output = -pid->limit;
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if (isfinite(output)) {
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pid->last_output = output;
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}
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return pid->last_output;
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}
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__EXPORT void pid_reset_integral(PID_t *pid)
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{
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pid->integral = 0;
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}
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@@ -0,0 +1,78 @@
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/****************************************************************************
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*
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
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* Author: @author Laurens Mackay <mackayl@student.ethz.ch>
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* @author Tobias Naegeli <naegelit@student.ethz.ch>
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* @author Martin Rutschmann <rutmarti@student.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
|
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*
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* 1. Redistributions of source code must retain the above copyright
|
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
|
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file pid.h
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* Definition of generic PID control interface
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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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// Use PID_MODE_DERIVATIV_NONE for a PI controller (vs PID)
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#define PID_MODE_DERIVATIV_NONE 9
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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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float last_output;
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float limit;
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uint8_t mode;
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uint8_t count;
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uint8_t saturated;
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} PID_t;
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__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, uint8_t mode);
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__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit);
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//void pid_set(PID_t *pid, float sp);
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__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
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__EXPORT void pid_reset_integral(PID_t *pid);
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#endif /* PID_H_ */
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