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author | Julian Oes <julian@oes.ch> | 2013-07-08 10:31:32 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2013-07-08 10:31:32 +0200 |
commit | 88389ea2554c6f56a4fdd86cdd86a1e7b6affc21 (patch) | |
tree | 3ef98ded43e5f3a2cdc30a836a3a7329fe5757bb /src/modules/systemlib/pid/pid.h | |
parent | 76346bfe19c816491a6982abfa10f48cd9d258f6 (diff) | |
parent | cf2dbdf9a1ae06c7d0e0a7963916a3709a1bc075 (diff) | |
download | px4-firmware-88389ea2554c6f56a4fdd86cdd86a1e7b6affc21.tar.gz px4-firmware-88389ea2554c6f56a4fdd86cdd86a1e7b6affc21.tar.bz2 px4-firmware-88389ea2554c6f56a4fdd86cdd86a1e7b6affc21.zip |
Merge branch 'master' into new_state_machine
compiling again
Conflicts:
src/modules/fixedwing_att_control/fixedwing_att_control_att.c
src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
src/modules/mavlink/orb_listener.c
src/modules/multirotor_att_control/multirotor_attitude_control.c
src/modules/multirotor_att_control/multirotor_rate_control.c
src/modules/systemlib/pid/pid.c
src/modules/systemlib/pid/pid.h
src/modules/uORB/objects_common.cpp
Diffstat (limited to 'src/modules/systemlib/pid/pid.h')
-rw-r--r-- | src/modules/systemlib/pid/pid.h | 31 |
1 files changed, 21 insertions, 10 deletions
diff --git a/src/modules/systemlib/pid/pid.h b/src/modules/systemlib/pid/pid.h index eb9df96cc..5f2650f69 100644 --- a/src/modules/systemlib/pid/pid.h +++ b/src/modules/systemlib/pid/pid.h @@ -1,9 +1,11 @@ /**************************************************************************** * - * 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> + * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Author: Laurens Mackay <mackayl@student.ethz.ch> + * Tobias Naegeli <naegelit@student.ethz.ch> + * Martin Rutschmann <rutmarti@student.ethz.ch> + * Anton Babushkin <anton.babushkin@me.com> + * Julian Oes <joes@student.ethz.ch> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -36,7 +38,14 @@ /** * @file pid.h - * Definition of generic PID control interface + * + * Definition of generic PID control interface. + * + * @author Laurens Mackay <mackayl@student.ethz.ch> + * @author Tobias Naegeli <naegelit@student.ethz.ch> + * @author Martin Rutschmann <rutmarti@student.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> + * @author Julian Oes <joes@student.ethz.ch> */ #ifndef PID_H_ @@ -44,6 +53,8 @@ #include <stdint.h> +__BEGIN_DECLS + /* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error * val_dot in pid_calculate() will be ignored */ #define PID_MODE_DERIVATIV_CALC 0 @@ -62,22 +73,22 @@ typedef struct { float intmax; float sp; float integral; - float error_previous_filtered; - float control_previous; + float error_previous; float last_output; float limit; + float dt_min; uint8_t mode; - float diff_filter_factor; 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, float diff_filter_factor, uint8_t mode); -__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, float diff_filter_factor); +__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, uint8_t mode, float dt_min); +__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, float *ctrl_p, float *ctrl_i, float *ctrl_d); __EXPORT void pid_reset_integral(PID_t *pid); +__END_DECLS #endif /* PID_H_ */ |