multirotor_pos_control: use separate PID controllers for position and velocity

1 files changed, 75 insertions, 0 deletions

diff --git a/src/modules/multirotor_pos_control/thrust_pid.h b/src/modules/multirotor_pos_control/thrust_pid.h
new file mode 100644
index 000000000..65ee33c51
--- /dev/null
+++ b/src/modules/multirotor_pos_control/thrust_pid.h
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Anton Babushkin <anton.babushkin@me.com>
+ *
+ * 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 thrust_pid.h
+ *
+ * Definition of thrust control PID interface.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#ifndef THRUST_PID_H_
+#define THRUST_PID_H_
+
+#include <stdint.h>
+
+__BEGIN_DECLS
+
+/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error */
+#define THRUST_PID_MODE_DERIVATIV_CALC	0
+/* PID_MODE_DERIVATIV_CALC_NO_SP calculates discrete derivative from previous value, setpoint derivative is ignored */
+#define THRUST_PID_MODE_DERIVATIV_CALC_NO_SP	1
+
+typedef struct {
+	float kp;
+	float ki;
+	float kd;
+	float sp;
+	float integral;
+	float error_previous;
+	float last_output;
+	float limit_min;
+	float limit_max;
+	float dt_min;
+	uint8_t mode;
+} thrust_pid_t;
+
+__EXPORT void thrust_pid_init(thrust_pid_t *pid, float kp, float ki, float kd, float limit_min, float limit_max, uint8_t mode, float dt_min);
+__EXPORT int thrust_pid_set_parameters(thrust_pid_t *pid, float kp, float ki, float kd, float limit_min, float limit_max);
+__EXPORT float thrust_pid_calculate(thrust_pid_t *pid, float sp, float val, float dt);
+
+__END_DECLS
+
+#endif /* THRUST_PID_H_ */