From 06407b166f262c40b9e1887e6b4b71466fe4e57a Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Wed, 19 Dec 2012 17:54:18 -0800 Subject: My PID integral part fixes --- apps/systemlib/pid/pid.c | 6 ++++++ apps/systemlib/pid/pid.h | 1 + 2 files changed, 7 insertions(+) (limited to 'apps/systemlib') diff --git a/apps/systemlib/pid/pid.c b/apps/systemlib/pid/pid.c index 0358caa25..49315cdc9 100644 --- a/apps/systemlib/pid/pid.c +++ b/apps/systemlib/pid/pid.c @@ -183,3 +183,9 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo return pid->last_output; } + + +__EXPORT void pid_reset_integral(PID_t *pid) +{ + pid->integral = 0; +} diff --git a/apps/systemlib/pid/pid.h b/apps/systemlib/pid/pid.h index b51afef9e..64d668867 100644 --- a/apps/systemlib/pid/pid.h +++ b/apps/systemlib/pid/pid.h @@ -72,6 +72,7 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float //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_ */ -- cgit v1.2.3 From 7526dd46a2ace594cbbb2c6ad9e9fa53c67c5ca8 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 27 Dec 2012 19:01:00 +0100 Subject: Added header for common priority bands --- apps/drivers/px4io/px4io.cpp | 3 ++- apps/systemlib/scheduling_priorities.h | 48 ++++++++++++++++++++++++++++++++++ 2 files changed, 50 insertions(+), 1 deletion(-) create mode 100644 apps/systemlib/scheduling_priorities.h (limited to 'apps/systemlib') diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index 701955298..0ea1218e3 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -70,6 +70,7 @@ #include #include #include +#include #include #include @@ -255,7 +256,7 @@ PX4IO::init() } /* start the IO interface task */ - _task = task_create("px4io", SCHED_PRIORITY_DEFAULT, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr); + _task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr); if (_task < 0) { debug("task start failed: %d", errno); return -errno; diff --git a/apps/systemlib/scheduling_priorities.h b/apps/systemlib/scheduling_priorities.h new file mode 100644 index 000000000..be1dbfcd8 --- /dev/null +++ b/apps/systemlib/scheduling_priorities.h @@ -0,0 +1,48 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * 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. + * + ****************************************************************************/ + +#pragma once + +#include + +/* SCHED_PRIORITY_MAX */ +#define SCHED_PRIORITY_FAST_DRIVER SCHED_PRIORITY_MAX +#define SCHED_PRIORITY_WATCHDOG (SCHED_PRIORITY_MAX - 5) +#define SCHED_PRIORITY_ACTUATOR_OUTPUTS (SCHED_PRIORITY_MAX - 15) +#define SCHED_PRIORITY_ATTITUDE_CONTROL (SCHED_PRIORITY_MAX - 25) +#define SCHED_PRIORITY_SLOW_DRIVER (SCHED_PRIORITY_MAX - 35) +#define SCHED_PRIORITY_POSITION_CONTROL (SCHED_PRIORITY_MAX - 40) +/* SCHED_PRIORITY_DEFAULT */ +#define SCHED_PRIORITY_LOGGING (SCHED_PRIORITY_DEFAULT - 10) +#define SCHED_PRIORITY_PARAMS (SCHED_PRIORITY_DEFAULT - 15) +/* SCHED_PRIORITY_IDLE */ -- cgit v1.2.3