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Major formatting/whitespace cleanup

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This commit is contained in:
px4dev
2012-10-23 23:51:13 -07:00
parent 34f99c7dca
commit 2fc1032069
50 changed files with 1112 additions and 810 deletions
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apps/systemlib/pid/pid.c
+19 -9
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@@ -43,7 +43,7 @@
#include <math.h>
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
float limit, uint8_t mode)
float limit, uint8_t mode)
{
pid->kp = kp;
pid->ki = ki;
@@ -65,30 +65,35 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float
if (isfinite(kp)) {
pid->kp = kp;
} else {
ret = 1;
}
if (isfinite(ki)) {
pid->ki = ki;
} else {
ret = 1;
}
if (isfinite(kd)) {
pid->kd = kd;
} else {
ret = 1;
}
if (isfinite(intmax)) {
pid->intmax = intmax;
} else {
ret = 1;
}
if (isfinite(limit)) {
pid->limit = limit;
} else {
ret = 1;
}
@@ -121,17 +126,16 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
goto start
*/
if (!isfinite(sp) || !isfinite(val) || !isfinite(val_dot) || !isfinite(dt))
{
if (!isfinite(sp) || !isfinite(val) || !isfinite(val_dot) || !isfinite(dt)) {
return pid->last_output;
}
float i, d;
pid->sp = sp;
// Calculated current error value
float error = pid->sp - val;
if (isfinite(error)) { // Why is this necessary? DEW
pid->error_previous = error;
}
@@ -140,30 +144,36 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
if (pid->mode == PID_MODE_DERIVATIV_CALC) {
d = (error - pid->error_previous) / dt;
} else if (pid->mode == PID_MODE_DERIVATIV_SET) {
d = -val_dot;
} else {
d = 0.0f;
}
// Calculate the error integral and check for saturation
i = pid->integral + (error * dt);
if( fabs((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit ||
fabs(i) > pid->intmax )
{
if (fabs((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit ||
fabs(i) > pid->intmax) {
i = pid->integral; // If saturated then do not update integral value
pid->saturated = 1;
} else {
if (!isfinite(i)) {
i = 0;
}
pid->integral = i;
pid->saturated = 0;
}
// Calculate the output. Limit output magnitude to pid->limit
float output = (pid->error_previous * pid->kp) + (i * pid->ki) + (d * pid->kd);
if (output > pid->limit) output = pid->limit;
if (output < -pid->limit) output = -pid->limit;
if (isfinite(output)) {