PID Control algorithms. More...

#include "openpilot.h"
#include "physical_constants.h"
#include "misc_math.h"
#include "pid.h"

Functions
float	pid_apply (struct pid *pid, const float err)
	Methods to use the pid structures. More...

float	pid_apply_antiwindup (struct pid *pid, const float err, float min_bound, float max_bound, float aw_bound)

float	pid_apply_setpoint (struct pid pid, struct pid_deadband deadband, const float setpoint, const float measured)

float	pid_apply_setpoint_antiwindup (struct pid pid, struct pid_deadband deadband, const float setpoint, const float measured, float min_bound, float max_bound, float aw_bound)

void	pid_zero (struct pid *pid)

void	pid_configure_derivative (float cutoff, float g)
	Configure the common terms that alter ther derivative. More...

void	pid_configure (struct pid *pid, float p, float i, float d, float iLim, float dT)

void	pid_configure_deadband (struct pid_deadband *deadband, float width, float slope)

Variables
static float	deriv_tau = 7.9577e-3f
	Store the shared time constant for the derivative cutoff. More...

static float	deriv_gamma = 1.0
	Store the setpoint weight to apply for the derivative term. More...

Detailed Description

PID Control algorithms.

Author: The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.; Tau Labs, http://taulabs.org, Copyright (C) 2012-2014

Definition in file pid.c.

Functions