Revision 7:8ee2f9ba6ac3, committed 2018-05-22

Comitter:

edy05

Date:

Tue May 22 19:37:34 2018 +0000

Parent:

6:02717c0e74ce

Commit message:

Changed zero error, added stabalize functions, setLandingPoint()

Changed in this revision

diff -r 02717c0e74ce -r 8ee2f9ba6ac3 PID.cpp
--- a/PID.cpp	Tue May 15 10:34:07 2018 +0000
+++ b/PID.cpp	Tue May 22 19:37:34 2018 +0000
@@ -218,6 +218,11 @@
 
 }
 
+void PID::setLandingPoint(float sp) {
+    setPoint_ = sp;
+
+}
+
 void PID::setProcessValue(float pv) {
 
     processVariable_ = pv;
@@ -251,7 +256,7 @@
     }
 
     float error = scaledSP - scaledPV;
-    if(error < 0.005 && error > -0.001){
+    if(error < 0.002 && error > -0.001){
         error = 0;
         if(stabelized_ == false){
             printf("stabelized \n\r");
@@ -268,7 +273,6 @@
     //integrate if it is not. This is to prevent reset-windup.
     if (!(prevControllerOutput_ >= 1 && error > 0) && !(prevControllerOutput_ <= 0 && error < 0)) {
         accError_ += error;
-        
     }
 
     //Compute the current slope of the input signal.
@@ -321,6 +325,10 @@
     return stabelized_;    
 }
 
+void PID::setNotStabelized(){
+    stabelized_ = false;    
+}
+
 float PID::getInMin() {
 
     return inMin_;

diff -r 02717c0e74ce -r 8ee2f9ba6ac3 PID.h
--- a/PID.h	Tue May 15 10:34:07 2018 +0000
+++ b/PID.h	Tue May 22 19:37:34 2018 +0000
@@ -160,6 +160,10 @@
     
     //if quadcopter reach stable level
     bool quadStabilized(void);
+    
+    void setNotStabelized(void);
+    
+    void setLandingPoint(float);
 
     //Getters.
     float getInMin();