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feiyu_pid.h
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feiyu_pid.h
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/*
* Feiyu gimbal hack
*
* Copyright (C) 2016 Adam Williams <broadcast at earthling dot net>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
#ifndef FEIYU_PID_H
#define FEIYU_PID_H
typedef struct
{
// * FRACTION
int p_factor;
// * FRACTION
int i_factor;
// * FRACTION
int d_factor;
int p_limit;
int i_limit;
int d_limit;
int out_limit;
// i accumulator * FRACTION
int accum;
int counter;
int error_accum;
int i_downsample;
// call it mypid_t to avoid conflicting with the linux pid_t
} mypid_t;
void init_pid(mypid_t *pid,
int p_factor,
int i_factor,
int d_factor,
int p_limit,
int i_limit,
int d_limit,
int out_limit,
int i_downsample);
int do_pid(mypid_t *pid, int error, int error_rate);
void reset_pid(mypid_t *pid);
#endif