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pid library fix

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This commit is contained in:
Anton Babushkin
2013-12-15 12:34:56 +04:00
parent faa3826de6
commit f5c24c6e71
1 changed files with 15 additions and 10 deletions
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src/modules/systemlib/pid/pid.c
+15 -10
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@@ -143,17 +143,22 @@ __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);
/* 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;
}
}
if (pid->ki > SIGMA) {
// Calculate the error integral and check for saturation
i = pid->integral + (error * dt);
/* add I component to output */
output += pid->integral * pid-> ki;
/* 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 += pid->integral * pid->ki;
}
/* limit output */
if (isfinite(output)) {