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Diffstat (limited to 'apps/systemlib/pid/pid.h')
| -rw-r--r-- | apps/systemlib/pid/pid.h | 78 |
1 files changed, 0 insertions, 78 deletions
diff --git a/apps/systemlib/pid/pid.h b/apps/systemlib/pid/pid.h deleted file mode 100644 index 64d668867..000000000 --- a/apps/systemlib/pid/pid.h +++ /dev/null @@ -1,78 +0,0 @@ -/**************************************************************************** - * - * 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> - * - * 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 pid.h - * Definition of generic PID control interface - */ - -#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 -// Use PID_MODE_DERIVATIV_NONE for a PI controller (vs PID) -#define PID_MODE_DERIVATIV_NONE 9 - -typedef struct { - float kp; - float ki; - float kd; - float intmax; - float sp; - float integral; - float error_previous; - float last_output; - float limit; - uint8_t mode; - 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, uint8_t mode); -__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); - -__EXPORT void pid_reset_integral(PID_t *pid); - - -#endif /* PID_H_ */ |