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2bb1d17c7e
Arbitrary large limit values were hard coded into multirotor_attitude_control.c. These should be changed to parametric values or something sensible. This commit will temporarily break fixedwing_control.c. A following commit will repair it along with significant changes to the inner loop control. This commit has been tested to compile with fixedwing_control.c temporarily removed. No other testing has been completed.
78 lines
2.9 KiB
C
78 lines
2.9 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
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* Author: @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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*
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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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* Definition of generic PID control interface
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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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/* 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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#define PID_MODE_DERIVATIV_CALC 0
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/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */
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#define PID_MODE_DERIVATIV_SET 1
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// Use PID_MODE_DERIVATIV_NONE for a PI controller (vs PID)
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#define PID_MODE_DERIVATIV_NONE 9
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typedef struct {
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float kp;
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float ki;
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float kd;
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float intmax;
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float sp;
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float integral;
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float error_previous;
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float last_output;
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float limit;
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uint8_t mode;
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uint8_t count;
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uint8_t saturated;
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} PID_t;
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__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, uint8_t mode);
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__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit);
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//void pid_set(PID_t *pid, float sp);
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__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
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#endif /* PID_H_ */
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