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Diffstat (limited to 'apps/multirotor_control/pid.h')
-rw-r--r-- | apps/multirotor_control/pid.h | 40 |
1 files changed, 40 insertions, 0 deletions
diff --git a/apps/multirotor_control/pid.h b/apps/multirotor_control/pid.h new file mode 100644 index 000000000..a721c839c --- /dev/null +++ b/apps/multirotor_control/pid.h @@ -0,0 +1,40 @@ +/* + * pid.h + * + * Created on: May 29, 2012 + * Author: thomasgubler + */ + +#ifndef PID_H_ +#define PID_H_ + +#include <stdint.h> + +/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error + * val_dot in pid_calculate() will be ignored */ +#define PID_MODE_DERIVATIV_CALC 0 +/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */ +#define PID_MODE_DERIVATIV_SET 1 + +typedef struct { + float kp; + float ki; + float kd; + float intmax; + float sp; + float integral; + float error_previous; + uint8_t mode; + uint8_t plot_i; + uint8_t count; + uint8_t saturated; +} PID_t; + +void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode, uint8_t plot_i); +void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax); +//void pid_set(PID_t *pid, float sp); +float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt); + + + +#endif /* PID_H_ */ |