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[fix] add some ref and set_integral function to PID lib

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This commit is contained in:
Gautier Hattenberger
2019-07-08 16:05:09 +02:00
parent c8dba29208
commit a7b05cf296
3 changed files with 25 additions and 0 deletions
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conf/modules/dw1000_arduino.xml
+2
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@@ -8,6 +8,8 @@
Decawave DW1000 modules (http://www.decawave.com/products/dwm1000-module) are Ultra-Wide-Band devices that can be used for communication and ranging. Decawave DW1000 modules (http://www.decawave.com/products/dwm1000-module) are Ultra-Wide-Band devices that can be used for communication and ranging.
Especially, using 3 modules as anchors can provide data for a localization system based on trilateration. Especially, using 3 modules as anchors can provide data for a localization system based on trilateration.
The DW1000 is using a SPI connection, but an arduino-compatible board can be used with the library https://github.com/thotro/arduino-dw1000 to hyde the low level drivers and provide direct ranging informations. The DW1000 is using a SPI connection, but an arduino-compatible board can be used with the library https://github.com/thotro/arduino-dw1000 to hyde the low level drivers and provide direct ranging informations.
See https://hal-enac.archives-ouvertes.fr/hal-01936955 for more information on the EKF filtering.
</description> </description>
<configure name="DW1000_ARDUINO_UART" value="UARTX" description="UART on which arduino and its DW1000 module is connected"/> <configure name="DW1000_ARDUINO_UART" value="UARTX" description="UART on which arduino and its DW1000 module is connected"/>
<configure name="DW1000_ARDUINO_BAUD" value="B115200" description="UART Baudrate, default to 115200"/> <configure name="DW1000_ARDUINO_BAUD" value="B115200" description="UART Baudrate, default to 115200"/>
conf/modules/shift_tracking.xml
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@@ -10,6 +10,8 @@
with precision or in a net. with precision or in a net.
Data are coming from POSITION_ESTIMATE ABI message. Data are coming from POSITION_ESTIMATE ABI message.
See https://hal-enac.archives-ouvertes.fr/hal-01936955 for more information on UAV landing in a net.
</description> </description>
<section name="SHIFT_TRACKING" prefix="SHIFT_TRACKING_"> <section name="SHIFT_TRACKING" prefix="SHIFT_TRACKING_">
<define name="ID" value="ABI_BROADCAST" description="ABI binding ID"/> <define name="ID" value="ABI_BROADCAST" description="ABI binding ID"/>
sw/airborne/filters/pid.h
+21
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@@ -117,6 +117,27 @@ static inline void set_gains_pid_f(struct PID_f *pid, float Kp, float Kd, float
pid->g[2] = Ki; pid->g[2] = Ki;
} }
/** Set integral part, can be used to reset.
* The new sum of errors is calculated from current gains and bounds.
*
* @param pid pointer to PID structure
* @param value integral part of the PID control, 0. will reset it
*/
static inline void set_integral_pid_f(struct PID_f *pid, float value)
{
float integral = value;
if (integral < -pid->max_sum) {
integral = -pid->max_sum;
} else if (integral > pid->max_sum) {
integral = pid->max_sum;
}
if (fabsf(pid->g[2]) < 1e-6) {
pid->sum = 0.f; // integral gain is too low, prevent division by zero, just reset sum
} else {
pid->sum = integral / pid->g[2];
}
}
/** Distcrete time PID structure. /** Distcrete time PID structure.