src/main/programming/pid.h - master - Sangak/inav

src/main/programming/pid.h

54 строки2 KB

Pawel Spychalski (DzikuVx)

Optimize memory for better alignment

01 июл 2022, 15:22

01 июл 2022, 15:2227480b3

/*
 * This file is part of INAV Project.
 *
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this file,
 * You can obtain one at http://mozilla.org/MPL/2.0/.
 *
 * Alternatively, the contents of this file may be used under the terms
 * of the GNU General Public License Version 3, as described below:
 *
 * This file is free software: you may copy, redistribute and/or modify
 * it under the terms of the GNU General Public License as published by the
 * Free Software Foundation, either version 3 of the License, or (at your
 * option) any later version.
 *
 * This file 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, see http://www.gnu.org/licenses/.
 */

#pragma once

#include "config/parameter_group.h"
#include "common/time.h"
#include "common/fp_pid.h"

#include "programming/logic_condition.h"
#include "common/axis.h"
#include "flight/pid.h"

#define MAX_PROGRAMMING_PID_COUNT 4

typedef struct programmingPid_s {
    logicOperand_t setpoint;
    logicOperand_t measurement;
    pid8_t gains;
    uint8_t enabled;
} programmingPid_t;

PG_DECLARE_ARRAY(programmingPid_t, MAX_PROGRAMMING_PID_COUNT, programmingPids);

typedef struct programmingPidState_s {
    pidController_t controller;
    float output;
} programmingPidState_t;

void programmingPidUpdateTask(timeUs_t currentTimeUs);
void programmingPidInit(void);
void programmingPidReset(void);
int32_t programmingPidGetOutput(uint8_t i);