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Diffstat (limited to 'apps/fixedwing_control/pid.h')
-rw-r--r-- | apps/fixedwing_control/pid.h | 46 |
1 files changed, 46 insertions, 0 deletions
diff --git a/apps/fixedwing_control/pid.h b/apps/fixedwing_control/pid.h new file mode 100644 index 000000000..2f85c6c30 --- /dev/null +++ b/apps/fixedwing_control/pid.h @@ -0,0 +1,46 @@ +/**************************************************************************** + * pid.h + * + * Copyright (C) 2012 Ivan Ovinnikov. All rights reserved. + * Authors: Ivan Ovinnikov <oivan@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 NuttX 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + + +#ifndef PID_H_ +#define PID_H_ + +static float pid(float error, float error_deriv, uint16_t dt, float scaler, float K_p, float K_i, float K_d, float intmax); + +#endif /* PID_H_ */ |