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76 lines
2.8 KiB
C++
76 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2022-2024 PX4 Development Team. All rights reserved.
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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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#include "PID.hpp"
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#include "lib/mathlib/math/Functions.hpp"
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void PID::setGains(const float P, const float I, const float D)
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{
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_gain_proportional = P;
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_gain_integral = I;
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_gain_derivative = D;
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}
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float PID::update(const float feedback, const float dt, const bool update_integral)
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{
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const float error = _setpoint - feedback;
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const float output = (_gain_proportional * error) + _integral + (_gain_derivative * updateDerivative(feedback, dt));
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if (update_integral) {
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updateIntegral(error, dt);
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}
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_last_feedback = feedback;
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return math::constrain(output, -_limit_output, _limit_output);
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}
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void PID::updateIntegral(float error, const float dt)
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{
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const float integral_new = _integral + _gain_integral * error * dt;
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if (std::isfinite(integral_new)) {
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_integral = math::constrain(integral_new, -_limit_integral, _limit_integral);
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}
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}
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float PID::updateDerivative(float feedback, const float dt)
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{
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float feedback_change = 0.f;
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if ((dt > FLT_EPSILON) && std::isfinite(_last_feedback)) {
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feedback_change = (feedback - _last_feedback) / dt;
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}
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return feedback_change;
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}
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