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General robustness improvements in PID struct, numerically close to bullet-proof, error reporting needs improvements still.

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Lorenz Meier
2012-09-23 01:20:41 +02:00
parent 8b951ec417
commit de530d6ba1
3 changed files with 48 additions and 23 deletions
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apps/systemlib/pid/pid.h
+1 -1
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@@ -66,7 +66,7 @@ typedef struct {
} PID_t;
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode);
__EXPORT void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax);
__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax);
//void pid_set(PID_t *pid, float sp);
__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);