diff options
Diffstat (limited to 'apps/systemlib/pid/pid.h')
| -rw-r--r-- | apps/systemlib/pid/pid.h | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/apps/systemlib/pid/pid.h b/apps/systemlib/pid/pid.h index 098b2bef8..b51afef9e 100644 --- a/apps/systemlib/pid/pid.h +++ b/apps/systemlib/pid/pid.h @@ -49,6 +49,8 @@ #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; @@ -65,8 +67,8 @@ typedef struct { uint8_t saturated; } PID_t; -__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode); -__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax); +__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); |