modified SetSampleTime() to allow PID::Compute() synch to external timing source #111
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…ero for an input argument of zero, without modifying ki or kd. This forces Compute() to generate a new output value each time it is called, and allows the PID engine to be synchronized with an external timing source
|
For some additional details in support of this modification, see my blog post https://www.fpaynter.com/2021/05/turn-rate-pid-tuning-part-ii/ |
…o external timing sources
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
I modified SetSampleTime() to set the internal SampleTime variable to zero for an input argument of zero, without modifying ki or kd. This forces Compute() to generate a new output value each time it is called, and allows the PID engine to be synchronized with an external timing source.
This modification does not change the normal behavior in any way, but allows a knowledgeable user to synchronize the PID engine to an external timing source.