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General robustness improvements in PID struct, numerically close to bullet-proof, error reporting needs improvements still.

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This commit is contained in:
Lorenz Meier
2012-09-23 01:20:41 +02:00
parent 8b951ec417
commit de530d6ba1
3 changed files with 48 additions and 23 deletions
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apps/systemlib/pid/pid.c
+39 -14
View File
@@ -58,13 +58,36 @@ __EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
pid->error_previous = 0;
pid->integral = 0;
}
__EXPORT void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax)
__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax)
{
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->intmax = intmax;
int ret = 0;
if (isfinite(kp)) {
pid->kp = kp;
} else {
ret = 1;
}
if (isfinite(ki)) {
pid->ki = ki;
} else {
ret = 1;
}
if (isfinite(kd)) {
pid->kd = kd;
} else {
ret = 1;
}
if (isfinite(intmax)) {
pid->intmax = intmax;
} else {
ret = 1;
}
// pid->limit = limit;
return ret;
}
//void pid_set(PID_t *pid, float sp)
@@ -133,19 +156,21 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
d = -val_dot;
} else {
d = 0;
d = 0.0f;
}
if (pid->kd == 0) {
d = 0;
if (pid->kd == 0.0f) {
d = 0.0f;
}
if (pid->ki == 0) {
if (pid->ki == 0.0f) {
i = 0;
}
if (pid->kp == 0) {
p = 0;
float p;
if (pid->kp == 0.0f) {
p = 0.0f;
} else {
p = error;
}
@@ -154,10 +179,10 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
pid->error_previous = error;
}
float val = (error * pid->kp) + (i * pid->ki) + (d * pid->kd);
float output = (error * pid->kp) + (i * pid->ki) + (d * pid->kd);
if (isfinite(val)) {
last_output = val;
if (isfinite(output)) {
pid->last_output = output;
}
if (!isfinite(pid->integral)) {
apps/systemlib/pid/pid.h
+1 -1
View File
@@ -66,7 +66,7 @@ typedef struct {
} PID_t;
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode);
__EXPORT void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax);
__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax);
//void pid_set(PID_t *pid, float sp);
__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);