src/main/programming/pid.h

   1 /*
   2  * This file is part of INAV Project.
   3  *
   4  * This Source Code Form is subject to the terms of the Mozilla Public
   5  * License, v. 2.0. If a copy of the MPL was not distributed with this file,
   6  * You can obtain one at http://mozilla.org/MPL/2.0/.
   7  *
   8  * Alternatively, the contents of this file may be used under the terms
   9  * of the GNU General Public License Version 3, as described below:
  10  *
  11  * This file is free software: you may copy, redistribute and/or modify
  12  * it under the terms of the GNU General Public License as published by the
  13  * Free Software Foundation, either version 3 of the License, or (at your
  14  * option) any later version.
  15  *
  16  * This file is distributed in the hope that it will be useful, but
  17  * WITHOUT ANY WARRANTY; without even the implied warranty of
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
  19  * Public License for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License
  22  * along with this program. If not, see http://www.gnu.org/licenses/.
  23  */
  24
  25 #pragma once
  26
  27 #include "config/parameter_group.h"
  28 #include "common/time.h"
  29 #include "common/fp_pid.h"
  30
  31 #include "programming/logic_condition.h"
  32 #include "common/axis.h"
  33 #include "flight/pid.h"
  34
  35 #define MAX_PROGRAMMING_PID_COUNT 4
  36
  37 typedef struct programmingPid_s {
  38     logicOperand_t setpoint;
  39     logicOperand_t measurement;
  40     pid8_t gains;
  41     uint8_t enabled;
  42 } programmingPid_t;
  43
  44 PG_DECLARE_ARRAY(programmingPid_t, MAX_PROGRAMMING_PID_COUNT, programmingPids);
  45
  46 typedef struct programmingPidState_s {
  47     pidController_t controller;
  48     float output;
  49 } programmingPidState_t;
  50
  51 void programmingPidUpdateTask(timeUs_t currentTimeUs);
  52 void programmingPidInit(void);
  53 void programmingPidReset(void);
  54 int32_t programmingPidGetOutput(uint8_t i);