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pid lib fixes

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This commit is contained in:
Anton Babushkin
2013-11-26 10:28:30 +04:00
parent 310de1df96
commit d8e95de9bf
1 changed files with 8 additions and 18 deletions
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src/modules/systemlib/pid/pid.c
+8 -18
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@@ -143,28 +143,18 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
/* calculate PD output */
float output = (error * pid->kp) + (d * pid->kd);
if (pid->ki > SIGMA) {
/* calculate error integral and check for saturation */
float i = pid->integral + (error * dt);
/* fail-safe */
if (!isfinite(i)) {
i = 0.0f;
}
if ((pid->output_limit > SIGMA && (fabsf(output + (i * pid->ki)) > pid->output_limit)) ||
fabsf(i) > pid->integral_limit) {
/* saturated, do not update integral value */
i = pid->integral;
} else {
/* check for saturation */
if (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 */
pid->integral = i;
}
/* add I component to output */
output += i * pid->ki;
}
/* add I component to output */
output += pid->integral * pid-> ki;
/* limit output */
if (isfinite(output)) {
if (pid->output_limit > SIGMA) {