fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 03:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

double promotion warning fix or ignore per module

Browse Source
This commit is contained in:
Daniel Agar
2018-07-01 09:36:55 +00:00
committed by Lorenz Meier
parent 11d348ec4f
commit cf74166801
41 changed files with 93 additions and 75 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/pid/CMakeLists.txt
+1 -1
View File
@@ -31,4 +31,4 @@
#
############################################################################
px4_add_library(pid pid.c)
px4_add_library(pid pid.cpp)
src/lib/pid/pid.c → src/lib/pid/pid.cpp
+10 -9
View File
@@ -50,6 +50,7 @@
#include "pid.h"
#include <math.h>
#include <px4_defines.h>
#define SIGMA 0.000001f
@@ -71,35 +72,35 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float
{
int ret = 0;
if (isfinite(kp)) {
if (PX4_ISFINITE(kp)) {
pid->kp = kp;
} else {
ret = 1;
}
if (isfinite(ki)) {
if (PX4_ISFINITE(ki)) {
pid->ki = ki;
} else {
ret = 1;
}
if (isfinite(kd)) {
if (PX4_ISFINITE(kd)) {
pid->kd = kd;
} else {
ret = 1;
}
if (isfinite(integral_limit)) {
if (PX4_ISFINITE(integral_limit)) {
pid->integral_limit = integral_limit;
} else {
ret = 1;
}
if (isfinite(output_limit)) {
if (PX4_ISFINITE(output_limit)) {
pid->output_limit = output_limit;
} else {
@@ -111,7 +112,7 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float
__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt)
{
if (!isfinite(sp) || !isfinite(val) || !isfinite(val_dot) || !isfinite(dt)) {
if (!PX4_ISFINITE(sp) || !PX4_ISFINITE(val) || !PX4_ISFINITE(val_dot) || !PX4_ISFINITE(dt)) {
return pid->last_output;
}
@@ -136,7 +137,7 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
d = 0.0f;
}
if (!isfinite(d)) {
if (!PX4_ISFINITE(d)) {
d = 0.0f;
}
@@ -148,7 +149,7 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
i = pid->integral + (error * dt);
/* check for saturation */
if (isfinite(i)) {
if (PX4_ISFINITE(i)) {
if ((pid->output_limit < SIGMA || (fabsf(output + (i * pid->ki)) <= pid->output_limit)) &&
fabsf(i) <= pid->integral_limit) {
/* not saturated, use new integral value */
@@ -161,7 +162,7 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
}
/* limit output */
if (isfinite(output)) {
if (PX4_ISFINITE(output)) {
if (pid->output_limit > SIGMA) {
if (output > pid->output_limit) {
output = pid->output_limit;