mirror of https://github.com/rusefi/wideband.git
17 lines
399 B
C++
17 lines
399 B
C++
#include "pid.h"
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float Pid::GetOutput(float setpoint, float observation)
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{
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float error = setpoint - observation;
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// Integrate error
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m_integrator += error * m_period * m_ki;
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// Clamp to +- 1
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if (m_integrator > m_clamp) m_integrator = m_clamp;
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if (m_integrator < -m_clamp) m_integrator = -m_clamp;
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// Multiply by gains and sum
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return m_kp * error + m_integrator;
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}
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