62 lines
1.6 KiB
C
62 lines
1.6 KiB
C
/*
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Paparazzi mcu0 $Id: pid.h,v 1.1 2011-01-18 12:48:39 moellmer Exp $
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Copyright (C) 2003 Pascal Brisset, Antoine Drouin
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This file is part of paparazzi.
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paparazzi is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2, or (at your option)
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any later version.
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paparazzi is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with paparazzi; see the file COPYING. If not, write to
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the Free Software Foundation, 59 Temple Place - Suite 330,
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Boston, MA 02111-1307, USA.
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*/
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#ifndef PID_H
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#define PID_H
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#include <inttypes.h>
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#define NORM_RAD_ANGLE(x) { \
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while (x > M_PI) x -= 2 * M_PI; \
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while (x < -M_PI) x += 2 * M_PI; \
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}
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extern float desired_roll;
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extern float max_roll;
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extern float desired_pitch;
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extern float roll_pgain;
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extern float pitch_pgain;
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extern float pitch_of_roll;
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void roll_pitch_pid_run( void );
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extern float course_pgain;
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extern float desired_course;
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void course_pid_run( void );
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extern const float climb_pgain;
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extern const float climb_igain;
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extern float climb_sum_err;
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extern float desired_climb, pre_climb;
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extern int16_t desired_gaz, desired_aileron, desired_elevator;
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extern float pitch_of_vz_pgain;
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extern float pitch_of_vz;
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void climb_pid_run( void );
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void altitude_pid_run( void );
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#endif /* PID_H */
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