Cleaned up position control (WIP), moved PID structs (should become classes) to systemlib, added deamon app example

2026-10-20 07:23:34 +08:00 · 2012-08-19 11:29:07 +02:00
parent 2a5fcd9174
commit 85bc4f683a
25 changed files with 482 additions and 1931 deletions
@@ -0,0 +1,74 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Laurens Mackay <mackayl@student.ethz.ch>
+ *           @author Tobias Naegeli <naegelit@student.ethz.ch>
+ *           @author Martin Rutschmann <rutmarti@student.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file pid.h
+ * Definition of generic PID control interface
+ */
+
+#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_ */