diff options
Diffstat (limited to 'src/modules/systemlib/pid/pid.c')
-rw-r--r-- | src/modules/systemlib/pid/pid.c | 40 |
1 files changed, 27 insertions, 13 deletions
diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c index 49315cdc9..d0e67d3ea 100644 --- a/src/modules/systemlib/pid/pid.c +++ b/src/modules/systemlib/pid/pid.c @@ -43,7 +43,7 @@ #include <math.h> __EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, - float limit, uint8_t mode) + float limit, float diff_filter_factor, uint8_t mode) { pid->kp = kp; pid->ki = ki; @@ -51,15 +51,17 @@ __EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, pid->intmax = intmax; pid->limit = limit; pid->mode = mode; - pid->count = 0; - pid->saturated = 0; - pid->last_output = 0; - - pid->sp = 0; - pid->error_previous = 0; - pid->integral = 0; + pid->diff_filter_factor = diff_filter_factor; + pid->count = 0.0f; + pid->saturated = 0.0f; + pid->last_output = 0.0f; + + pid->sp = 0.0f; + pid->error_previous_filtered = 0.0f; + pid->control_previous = 0.0f; + pid->integral = 0.0f; } -__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit) +__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, float diff_filter_factor) { int ret = 0; @@ -98,6 +100,13 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float ret = 1; } + if (isfinite(diff_filter_factor)) { + pid->limit = diff_filter_factor; + + } else { + ret = 1; + } + return ret; } @@ -136,15 +145,15 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo // Calculated current error value float error = pid->sp - val; - if (isfinite(error)) { // Why is this necessary? DEW - pid->error_previous = error; - } + float error_filtered = pid->diff_filter_factor*error + (1.0f-pid->diff_filter_factor)*pid->error_previous_filtered; // Calculate or measured current error derivative if (pid->mode == PID_MODE_DERIVATIV_CALC) { - d = (error - pid->error_previous) / dt; +// d = (error_filtered - pid->error_previous_filtered) / dt; + d = pid->error_previous_filtered - error_filtered; + pid->error_previous_filtered = error_filtered; } else if (pid->mode == PID_MODE_DERIVATIV_SET) { d = -val_dot; @@ -180,6 +189,11 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo pid->last_output = output; } + pid->control_previous = pid->last_output; + + // if (isfinite(error)) { // Why is this necessary? DEW + // pid->error_previous = error; + // } return pid->last_output; } |