Autodrone
Multi-Domain Vehicle
pid.h
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1
9#ifndef __PID_H__
10#define __PID_H__
11
12/* Global Structs */
13typedef struct PIDdata {
14 float P, I, D, Limit;
15 float integratorState;
16 float filterState;
17 uint8_t prevResetState;
18} PIDdata_t;
19
20/* Global Variables */
21extern uint8_t pidReset;
22
23/* Function Prototypes */
24void initPID(void);
25float updatePID(float error, float deltaT, uint8_t reset, struct PIDdata *PIDparameters);
26void initPIDvalues(void);
27void setPIDstates(uint8_t IDPid, float value);
28void zeroPIDstates(void);
29
30#endif /* __PID_H__ */
setPIDstates
void setPIDstates(uint8_t IDPid, float value)
Set the state of the PIDs.
Definition: pid.c:166
pidReset
uint8_t pidReset
Definition: pid.c:13
initPID
void initPID(void)
Initializes the PID states.
Definition: pid.c:20
initPIDvalues
void initPIDvalues(void)
Allows the user to change the PID values.
Definition: pid.c:88
zeroPIDstates
void zeroPIDstates(void)
Set all states to 0.
Definition: pid.c:177
updatePID
float updatePID(float error, float deltaT, uint8_t reset, struct PIDdata *PIDparameters)
Updates the PID states.
Definition: pid.c:41
PIDdata_t
struct PIDdata PIDdata_t
PIDdata
Definition: pid.h:13
PIDdata::I
float I
Definition: pid.h:14
PIDdata::prevResetState
uint8_t prevResetState
Definition: pid.h:17
PIDdata::Limit
float Limit
Definition: pid.h:14
PIDdata::integratorState
float integratorState
Definition: pid.h:15
PIDdata::D
float D
Definition: pid.h:14
PIDdata::P
float P
Definition: pid.h:14
PIDdata::filterState
float filterState
Definition: pid.h:16