diff options
Diffstat (limited to 'src/modules/systemlib/pid/pid.h')
| -rw-r--r-- | src/modules/systemlib/pid/pid.h | 41 |
1 files changed, 19 insertions, 22 deletions
diff --git a/src/modules/systemlib/pid/pid.h b/src/modules/systemlib/pid/pid.h index eca228464..e8b1aac4f 100644 --- a/src/modules/systemlib/pid/pid.h +++ b/src/modules/systemlib/pid/pid.h @@ -39,7 +39,7 @@ /** * @file pid.h * - * Definition of generic PID control interface. + * Definition of generic PID controller. * * @author Laurens Mackay <mackayl@student.ethz.ch> * @author Tobias Naegeli <naegelit@student.ethz.ch> @@ -55,38 +55,35 @@ __BEGIN_DECLS -/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error - * val_dot in pid_calculate() will be ignored */ -#define PID_MODE_DERIVATIV_CALC 0 -/* PID_MODE_DERIVATIV_CALC_NO_SP calculates discrete derivative from previous value, setpoint derivative is ignored - * val_dot in pid_calculate() will be ignored */ -#define PID_MODE_DERIVATIV_CALC_NO_SP 1 -/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */ -#define PID_MODE_DERIVATIV_SET 2 -// Use PID_MODE_DERIVATIV_NONE for a PI controller (vs PID) -#define PID_MODE_DERIVATIV_NONE 9 +typedef enum PID_MODE { + /* Use PID_MODE_DERIVATIV_NONE for a PI controller (vs PID) */ + PID_MODE_DERIVATIV_NONE = 0, + /* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error, + * val_dot in pid_calculate() will be ignored */ + PID_MODE_DERIVATIV_CALC, + /* PID_MODE_DERIVATIV_CALC_NO_SP calculates discrete derivative from previous value, + * setpoint derivative will be ignored, val_dot in pid_calculate() will be ignored */ + PID_MODE_DERIVATIV_CALC_NO_SP, + /* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */ + PID_MODE_DERIVATIV_SET +} pid_mode_t; typedef struct { + pid_mode_t mode; + float dt_min; float kp; float ki; float kd; - float intmax; - float sp; float integral; + float integral_limit; + float output_limit; float error_previous; float last_output; - float limit; - float dt_min; - 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, float dt_min); -__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 void pid_init(PID_t *pid, pid_mode_t mode, float dt_min); +__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float integral_limit, float output_limit); __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt); - __EXPORT void pid_reset_integral(PID_t *pid); __END_DECLS |