pid.cpp File Reference

#include "pid.h"
#include <math.h>
#include <px4_platform_common/defines.h>

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Macros
#define	SIGMA   0.000001f

Functions
__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)

Macro Definition Documentation

SIGMA

#define SIGMA   0.000001f

Definition at line 55 of file pid.cpp.

Referenced by pid_calculate().

Function Documentation

pid_calculate()

__EXPORT float pid_calculate	(	PID_t *	pid,
		float	sp,
		float	val,
		float	val_dot,
		float	dt
	)

Definition at line 113 of file pid.cpp.

References dt, PID_t::dt_min, PID_t::error_previous, PID_t::integral, PID_t::integral_limit, PID_t::kd, PID_t::ki, PID_t::kp, PID_t::last_output, PID_t::mode, PID_t::output_limit, PID_MODE_DERIVATIV_CALC, PID_MODE_DERIVATIV_CALC_NO_SP, PID_MODE_DERIVATIV_SET, and SIGMA.

Referenced by RoverPositionControl::control_position(), and RoverPositionControl::control_velocity().

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pid_init()

__EXPORT void pid_init	(	PID_t *	pid,
		pid_mode_t	mode,
		float	dt_min
	)

Definition at line 57 of file pid.cpp.

References PID_t::dt_min, PID_t::error_previous, PID_t::integral, PID_t::integral_limit, PID_t::kd, PID_t::ki, PID_t::kp, PID_t::last_output, PID_t::mode, and PID_t::output_limit.

Referenced by RoverPositionControl::~RoverPositionControl().

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pid_reset_integral()

__EXPORT void pid_reset_integral

(

PID_t *

pid

)

Definition at line 182 of file pid.cpp.

References PID_t::integral.

pid_set_parameters()

__EXPORT int pid_set_parameters	(	PID_t *	pid,
		float	kp,
		float	ki,
		float	kd,
		float	integral_limit,
		float	output_limit
	)

Definition at line 71 of file pid.cpp.

References PID_t::integral_limit, PID_t::kd, PID_t::ki, PID_t::kp, and PID_t::output_limit.

Referenced by RoverPositionControl::~RoverPositionControl().

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