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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-22 20:55:44 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-22 20:55:44 +0200 |
| commit | 8b951ec417454353d61d19b3379e52b6da5dd6b6 (patch) | |
| tree | 954ecb29a7184ab7f306ec2cccc6f857fd7f58dd /apps/systemlib/pid/pid.h | |
| parent | a9b21886f32d0a8ef7cad8dfe7efbc3276f4fd58 (diff) | |
| download | px4-firmware-8b951ec417454353d61d19b3379e52b6da5dd6b6.tar.gz px4-firmware-8b951ec417454353d61d19b3379e52b6da5dd6b6.tar.bz2 px4-firmware-8b951ec417454353d61d19b3379e52b6da5dd6b6.zip | |
WIP on HIL
Diffstat (limited to 'apps/systemlib/pid/pid.h')
| -rw-r--r-- | apps/systemlib/pid/pid.h | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/apps/systemlib/pid/pid.h b/apps/systemlib/pid/pid.h index 83bf09b59..d4bbcaf31 100644 --- a/apps/systemlib/pid/pid.h +++ b/apps/systemlib/pid/pid.h @@ -58,13 +58,14 @@ typedef struct { float sp; float integral; float error_previous; + float last_output; + float limit; uint8_t mode; - uint8_t plot_i; uint8_t count; uint8_t saturated; } PID_t; -__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode, uint8_t plot_i); +__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); //void pid_set(PID_t *pid, float sp); __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt); |