Fresh import of the PX4 firmware sources.

apps/fixedwing_control/pid.c

@@ -0,0 +1,118 @@
+/****************************************************************************
+ * pid.c
+ *
+ *   Copyright (C) 2012 Ivan Ovinnikov. All rights reserved.
+ *   Authors: Ivan Ovinnikov <oivan@ethz.ch>
+ *
+ * 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 NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "pid.h"
+#include "fixedwing_control.h"
+
+/*******************************************************************************
+ * pid()
+ *
+ * Calculates the PID control output given an error
+ *
+ * Input: float error, uint16_t dt, float scaler, float K_p, float K_i, float K_d
+ *
+ * Output: PID control value
+ *
+ ******************************************************************************/
+
+static float pid(float error, float error_deriv, uint16_t dt, float scaler, float K_p, float K_i, float K_d, float intmax)
+{
+	// PID parameters
+
+	float Kp = K_p;
+	float Ki = K_i;
+	float Kd = K_d;
+	float delta_time = dt;	// delta time
+	float lerror;		// last error value
+	float imax = intmax;			// max integral value
+	float integrator;
+	float derivative;
+	float lderiv;
+	int fCut = 20;		// anything above 20 Hz is considered noise - low pass filter for the derivative
+	float output = 0;		// the output of the PID controller
+
+	output += error * Kp;
+
+	if ((fabs(Kd) > 0) && (dt > 0)) {
+
+		if (PID_DERIVMODE_CALC) {
+			derivative = (error - lerror) / delta_time;
+
+			// discrete low pass filter, cuts out the
+			// high frequency noise that can drive the controller crazy
+			float RC = 1 / (2 * M_PI * fCut);
+			derivative = lderiv +
+				     (delta_time / (RC + delta_time)) * (derivative - lderiv);
+
+			// update state
+			lerror 	= error;
+			lderiv  = derivative;
+
+		} else {
+			derivative = error_deriv;
+		}
+
+		// add in derivative component
+		output 	+= Kd * derivative;
+	}
+
+	printf("PID derivative %i\n", (int)(1000 * derivative));
+
+	// scale the P and D components
+	output *= scaler;
+
+	// Compute integral component if time has elapsed
+	if ((fabs(Ki) > 0) && (dt > 0)) {
+		integrator 		+= (error * Ki) * scaler * delta_time;
+
+		if (integrator < -imax) {
+			integrator = -imax;
+
+		} else if (integrator > imax) {
+			integrator = imax;
+		}
+
+		output += integrator;
+	}
+
+	printf("PID Integrator %i\n", (int)(1000 * integrator));
+
+	return output;
+}
+