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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-09-01 20:17:24 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-09-01 20:17:24 +0200 |
| commit | e553087d10e7187c12e5e0f28937585a732a46da (patch) | |
| tree | 2f185a2b173399e91a119b142171fe521a3bd703 /src/modules/systemlib/pid | |
| parent | 56293c8068381d8c0cb2bf1a19c2924b2e3eca4f (diff) | |
| download | px4-firmware-e553087d10e7187c12e5e0f28937585a732a46da.tar.gz px4-firmware-e553087d10e7187c12e5e0f28937585a732a46da.tar.bz2 px4-firmware-e553087d10e7187c12e5e0f28937585a732a46da.zip | |
pid.limit != 0 fix
Diffstat (limited to 'src/modules/systemlib/pid')
| -rw-r--r-- | src/modules/systemlib/pid/pid.c | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c index 562f3ac04..739503ed4 100644 --- a/src/modules/systemlib/pid/pid.c +++ b/src/modules/systemlib/pid/pid.c @@ -51,6 +51,8 @@ #include "pid.h" #include <math.h> +#define SIGMA 0.000001f + __EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, uint8_t mode, float dt_min) { @@ -168,7 +170,7 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo // Calculate the error integral and check for saturation i = pid->integral + (error * dt); - if ((pid->limit != 0.0f && (fabsf((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit)) || + if ((pid->limit > SIGMA && (fabsf((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit)) || fabsf(i) > pid->intmax) { i = pid->integral; // If saturated then do not update integral value pid->saturated = 1; @@ -186,7 +188,7 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo float output = (error * pid->kp) + (i * pid->ki) + (d * pid->kd); if (isfinite(output)) { - if (pid->limit != 0.0f) { + if (pid->limit > SIGMA) { if (output > pid->limit) { output = pid->limit; |