flight/libraries/math/pid.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilot Math Utilities
   4  * @{
   5  * @addtogroup Sine and cosine methods that use a cached lookup table
   6  * @{
   7  *
   8  * @file       pid.h
   9  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  10  * @brief      Methods to work with PID structure
  11  *
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  *****************************************************************************/
  15 /*
  16  * This program is free software; you can redistribute it and/or modify
  17  * it under the terms of the GNU General Public License as published by
  18  * the Free Software Foundation; either version 3 of the License, or
  19  * (at your option) any later version.
  20  *
  21  * This program is distributed in the hope that it will be useful, but
  22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  24  * for more details.
  25  *
  26  * You should have received a copy of the GNU General Public License along
  27  * with this program; if not, write to the Free Software Foundation, Inc.,
  28  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  29  */
  30
  31 #ifndef PID_H
  32 #define PID_H
  33
  34 // !
  35 struct pid {
  36     float p;
  37     float i;
  38     float d;
  39     float iLim;
  40     float iAccumulator;
  41     float lastErr;
  42     float lastDer;
  43 };
  44
  45 // ! Methods to use the pid structures
  46 float pid_apply(struct pid *pid, const float err, float dT);
  47 float pid_apply_setpoint(struct pid *pid, const float factor, const float setpoint, const float measured, float dT);
  48 void pid_zero(struct pid *pid);
  49 void pid_configure(struct pid *pid, float p, float i, float d, float iLim);
  50 void pid_configure_derivative(float cutoff, float gamma);
  51
  52 #endif /* PID_H */