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/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Laurens Mackay <mackayl@student.ethz.ch>
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Martin Rutschmann <rutmarti@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file pid.h
* Definition of generic PID control interface
*/
#ifndef PID_H_
#define PID_H_
#include <stdint.h>
/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error
* val_dot in pid_calculate() will be ignored */
#define PID_MODE_DERIVATIV_CALC 0
/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */
#define PID_MODE_DERIVATIV_SET 1
// Use PID_MODE_DERIVATIV_NONE for a PI controller (vs PID)
#define PID_MODE_DERIVATIV_NONE 9
typedef struct {
float kp;
float ki;
float kd;
float intmax;
float sp;
float integral;
float error_previous;
float last_output;
float limit;
uint8_t mode;
uint8_t count;
uint8_t saturated;
} PID_t;
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, uint8_t mode);
__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit);
//void pid_set(PID_t *pid, float sp);
__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
__EXPORT void pid_reset_integral(PID_t *pid);
#endif /* PID_H_ */
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