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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-29 14:20:35 +08:00
move systemlib/pid to standalone lib
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
e468a9bbcc
commit
b23e40ca42
@@ -39,7 +39,6 @@ set(SRCS
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hysteresis/hysteresis.cpp
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mavlink_log.c
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otp.c
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pid/pid.c
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)
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if(${OS} STREQUAL "nuttx")
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@@ -1,184 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
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* Author: Laurens Mackay <mackayl@student.ethz.ch>
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* Tobias Naegeli <naegelit@student.ethz.ch>
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* Martin Rutschmann <rutmarti@student.ethz.ch>
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* Anton Babushkin <anton.babushkin@me.com>
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* Julian Oes <joes@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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*
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* Implementation of generic PID controller.
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*
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* @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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* @author Anton Babushkin <anton.babushkin@me.com>
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* @author Julian Oes <joes@student.ethz.ch>
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*/
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#include "pid.h"
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#include <math.h>
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#define SIGMA 0.000001f
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__EXPORT void pid_init(PID_t *pid, pid_mode_t mode, float dt_min)
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{
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pid->mode = mode;
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pid->dt_min = dt_min;
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pid->kp = 0.0f;
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pid->ki = 0.0f;
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pid->kd = 0.0f;
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pid->integral = 0.0f;
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pid->integral_limit = 0.0f;
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pid->output_limit = 0.0f;
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pid->error_previous = 0.0f;
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pid->last_output = 0.0f;
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}
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__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float integral_limit, float output_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(integral_limit)) {
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pid->integral_limit = integral_limit;
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} else {
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ret = 1;
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}
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if (isfinite(output_limit)) {
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pid->output_limit = output_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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__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt)
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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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/* current error value */
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float error = sp - val;
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/* current error derivative */
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if (pid->mode == PID_MODE_DERIVATIV_CALC) {
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d = (error - pid->error_previous) / fmaxf(dt, pid->dt_min);
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pid->error_previous = error;
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} else if (pid->mode == PID_MODE_DERIVATIV_CALC_NO_SP) {
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d = (-val - pid->error_previous) / fmaxf(dt, pid->dt_min);
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pid->error_previous = -val;
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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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if (!isfinite(d)) {
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d = 0.0f;
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}
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/* calculate PD output */
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float output = (error * pid->kp) + (d * pid->kd);
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if (pid->ki > SIGMA) {
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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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/* check for saturation */
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if (isfinite(i)) {
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if ((pid->output_limit < SIGMA || (fabsf(output + (i * pid->ki)) <= pid->output_limit)) &&
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fabsf(i) <= pid->integral_limit) {
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/* not saturated, use new integral value */
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pid->integral = i;
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}
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}
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/* add I component to output */
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output += pid->integral * pid->ki;
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}
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/* limit output */
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if (isfinite(output)) {
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if (pid->output_limit > SIGMA) {
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if (output > pid->output_limit) {
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output = pid->output_limit;
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} else if (output < -pid->output_limit) {
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output = -pid->output_limit;
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}
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}
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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 = 0.0f;
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}
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@@ -1,91 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
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* Author: Laurens Mackay <mackayl@student.ethz.ch>
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* Tobias Naegeli <naegelit@student.ethz.ch>
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* Martin Rutschmann <rutmarti@student.ethz.ch>
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* Anton Babushkin <anton.babushkin@me.com>
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* Julian Oes <joes@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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*
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* Definition of generic PID controller.
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*
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* @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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* @author Anton Babushkin <anton.babushkin@me.com>
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* @author Julian Oes <joes@student.ethz.ch>
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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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__BEGIN_DECLS
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typedef enum PID_MODE {
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/* Use PID_MODE_DERIVATIV_NONE for a PI controller (vs PID) */
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PID_MODE_DERIVATIV_NONE = 0,
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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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PID_MODE_DERIVATIV_CALC,
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/* PID_MODE_DERIVATIV_CALC_NO_SP calculates discrete derivative from previous value,
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* setpoint derivative will be ignored, val_dot in pid_calculate() will be ignored */
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PID_MODE_DERIVATIV_CALC_NO_SP,
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/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */
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PID_MODE_DERIVATIV_SET
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} pid_mode_t;
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typedef struct {
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pid_mode_t mode;
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float dt_min;
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float kp;
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float ki;
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float kd;
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float integral;
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float integral_limit;
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float output_limit;
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float error_previous;
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float last_output;
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} PID_t;
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__EXPORT void pid_init(PID_t *pid, pid_mode_t mode, float dt_min);
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__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float integral_limit, float output_limit);
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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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__END_DECLS
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#endif /* PID_H_ */
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