diff options
Diffstat (limited to 'src/modules/multirotor_pos_control/thrust_pid.h')
| -rw-r--r-- | src/modules/multirotor_pos_control/thrust_pid.h | 76 |
1 files changed, 0 insertions, 76 deletions
diff --git a/src/modules/multirotor_pos_control/thrust_pid.h b/src/modules/multirotor_pos_control/thrust_pid.h deleted file mode 100644 index 5e169c1ba..000000000 --- a/src/modules/multirotor_pos_control/thrust_pid.h +++ /dev/null @@ -1,76 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Anton Babushkin <anton.babushkin@me.com> - * - * 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 thrust_pid.h - * - * Definition of thrust control PID interface. - * - * @author Anton Babushkin <anton.babushkin@me.com> - */ - -#ifndef THRUST_PID_H_ -#define THRUST_PID_H_ - -#include <stdint.h> - -__BEGIN_DECLS - -/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error */ -#define THRUST_PID_MODE_DERIVATIV_CALC 0 -/* PID_MODE_DERIVATIV_CALC_NO_SP calculates discrete derivative from previous value, setpoint derivative is ignored */ -#define THRUST_PID_MODE_DERIVATIV_CALC_NO_SP 1 - -typedef struct { - float kp; - float ki; - float kd; - float sp; - float integral; - float error_previous; - float last_output; - float limit_min; - float limit_max; - float dt_min; - uint8_t mode; -} thrust_pid_t; - -__EXPORT void thrust_pid_init(thrust_pid_t *pid, float kp, float ki, float kd, float limit_min, float limit_max, uint8_t mode, float dt_min); -__EXPORT int thrust_pid_set_parameters(thrust_pid_t *pid, float kp, float ki, float kd, float limit_min, float limit_max); -__EXPORT float thrust_pid_calculate(thrust_pid_t *pid, float sp, float val, float dt, float r22); -__EXPORT void thrust_pid_set_integral(thrust_pid_t *pid, float i); - -__END_DECLS - -#endif /* THRUST_PID_H_ */ |