81 lines
3.0 KiB
C
81 lines
3.0 KiB
C
/**************************************************************************
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* NAME: pid.h *
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* AUTHOR: Johan Gärtner *
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*
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* PURPOSE: This file contains pid functions *
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* INFORMATION: pidUAV is the final pid controller which only takes *
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* pidProfile_t as input. pidProfile_t will be updated and *
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* contains all the information about the current state of *
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* the pid. *
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* GLOBAL VARIABLES: *
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* Variable Type Description *
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* -------- ---- ----------- *
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*
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* **************************************************************************/
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#ifndef FLIGHT_PID_H_
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#define FLIGHT_PID_H_
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#include<stdio.h>
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#include<stdint.h>
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#include "Flight/filter.h"
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#define XYZ_AXIS_COUNT 3 /*The maximum number of DOF that belongings to the PID*/
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#define PID_ID_GYRO 0
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#define PID_ID_ACCELEROMETER 1
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#define PID_ID_COMPASS 2
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#define PID_ID_BAROMETER 3
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#define PID_COUNT 4
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#define THROTTLE 0 /*Index terms to the PID*/
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/*Enum of index to different profiles*/
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typedef enum {
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ROLL = 0,
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PITCH,
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YAW
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} RollPitchYaw;
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/*Struct that belongs to a certain PID controller*/
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typedef struct pidProfile_s {
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bool pidEnabled;
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uint8_t ID_profile; /*ID of a certain PID, shall be referenced to a certain sensor*/
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uint8_t P[XYZ_AXIS_COUNT]; /*PID value*/
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uint8_t I[XYZ_AXIS_COUNT]; /*PID value*/
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uint8_t D[XYZ_AXIS_COUNT]; /*PID value*/
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uint16_t dterm_lpf; /*Cut of frequency for derivative (delta) term of the PID to the low pass filter, recommended settings 80 - 90 hz (same as clean flight)*/
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uint16_t pterm_yaw_lpf; /*Cut of frequency for PTerm of the PID for yaw axis (low pass filter), recommended settings? (same as clean flight)*/
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int16_t yaw_p_limit; /*The max and minimum output value of the PTerm of yaw axis*/
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int16_t pid_out_limit; /*PID output limit*/
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uint8_t PIDweight[XYZ_AXIS_COUNT]; /*Used for TPA, should be 100 when default*/
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float PID_Out[XYZ_AXIS_COUNT]; /*PID out values from a certain controller*/
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} pidProfile_t;
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/*Array of all pid profiles of the system*/
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extern pidProfile_t PidProfile[PID_COUNT];
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/*Is set in motor mix and used in pidUAVcore and mix */
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bool motorLimitReached;
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/**************************************************************************
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* BRIEF: Initializes PID profiles *
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* INFORMATION: *
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**************************************************************************/
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void pidInit();
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/**************************************************************************
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* BRIEF: Runs a certain PID Controller *
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* INFORMATION: *
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**************************************************************************/
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void pidRun(uint8_t ID);
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void pidEproom(void);
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#endif /* FLIGHT_PID_H_ */
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