Matthias Grob
/
FlyBed2
My fully self designed first stable working Quadrocopter Software.
PID/PID.cpp@5:06e978fd147a, 2014-07-06 (annotated)
- Committer:
- maetugr
- Date:
- Sun Jul 06 05:51:25 2014 +0000
- Revision:
- 5:06e978fd147a
- Parent:
- 2:03e5f7ab473f
- Child:
- 7:ac2895479e34
switched from dedicated PWM Motor Driver to Interrupt Motor Driver which works on every Pin because PWM crashed a lot of I2C Sensor Values!
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
maetugr | 0:12950aa67f2a | 1 | #include "PID.h" |
maetugr | 0:12950aa67f2a | 2 | |
maetugr | 2:03e5f7ab473f | 3 | PID::PID(float P, float I, float D, float Integral_Max) { |
maetugr | 2:03e5f7ab473f | 4 | Value = 0; |
maetugr | 0:12950aa67f2a | 5 | Integral = 0; |
maetugr | 0:12950aa67f2a | 6 | LastTime = 0; |
maetugr | 0:12950aa67f2a | 7 | Integrate = true; |
maetugr | 0:12950aa67f2a | 8 | PID::P = P; |
maetugr | 0:12950aa67f2a | 9 | PID::I = I; |
maetugr | 0:12950aa67f2a | 10 | PID::D = D; |
maetugr | 0:12950aa67f2a | 11 | PID::Integral_Max = Integral_Max; |
maetugr | 0:12950aa67f2a | 12 | dtTimer.start(); |
maetugr | 0:12950aa67f2a | 13 | } |
maetugr | 0:12950aa67f2a | 14 | |
maetugr | 2:03e5f7ab473f | 15 | void PID::compute(float DesiredAngle, float Angle, float Gyro_data) { |
maetugr | 0:12950aa67f2a | 16 | // meassure dt |
maetugr | 0:12950aa67f2a | 17 | float dt = dtTimer.read() - LastTime; // time in us since last loop |
maetugr | 0:12950aa67f2a | 18 | LastTime = dtTimer.read(); // set new time for next measurement |
maetugr | 0:12950aa67f2a | 19 | |
maetugr | 2:03e5f7ab473f | 20 | // Derivative (most important for QC stability and Gyro only because very sensitive!) |
maetugr | 2:03e5f7ab473f | 21 | float Derivative = Gyro_data; |
maetugr | 2:03e5f7ab473f | 22 | //PreviousGyro_data = Gyro_data; |
maetugr | 2:03e5f7ab473f | 23 | |
maetugr | 0:12950aa67f2a | 24 | // Proportional |
maetugr | 2:03e5f7ab473f | 25 | float Error = Angle - DesiredAngle; |
maetugr | 0:12950aa67f2a | 26 | |
maetugr | 0:12950aa67f2a | 27 | // Integral |
maetugr | 5:06e978fd147a | 28 | if (dt > 2 || !Integrate) // TODO: 2 secs is the maximal time between two computations |
maetugr | 0:12950aa67f2a | 29 | Integral = 0; |
maetugr | 0:12950aa67f2a | 30 | else if (abs(Integral + Error) <= Integral_Max) |
maetugr | 0:12950aa67f2a | 31 | Integral += Error * dt; |
maetugr | 0:12950aa67f2a | 32 | |
maetugr | 0:12950aa67f2a | 33 | // Final Formula |
maetugr | 2:03e5f7ab473f | 34 | Value = P * Error + I * Integral + D * Derivative; |
maetugr | 0:12950aa67f2a | 35 | } |
maetugr | 0:12950aa67f2a | 36 | |
maetugr | 2:03e5f7ab473f | 37 | void PID::setPID(float P, float I, float D) { |
maetugr | 0:12950aa67f2a | 38 | PID::P = P; |
maetugr | 0:12950aa67f2a | 39 | PID::I = I; |
maetugr | 0:12950aa67f2a | 40 | PID::D = D; |
maetugr | 0:12950aa67f2a | 41 | } |
maetugr | 0:12950aa67f2a | 42 | |
maetugr | 2:03e5f7ab473f | 43 | void PID::setIntegrate(bool Integrate) { |
maetugr | 0:12950aa67f2a | 44 | PID::Integrate = Integrate; |
maetugr | 0:12950aa67f2a | 45 | } |