temple/caero-attitude-control
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adjust PID update function return value

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templeofshadow
2026-06-30 00:16:39 -05:00
parent dd70e5ddb2
commit 131bbd9f0a
1 changed files with 4 additions and 6 deletions
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10
main.lua
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@@ -864,13 +864,13 @@ function CreatePID(kp, ki, kd)
minOutput = 0.0, minOutput = 0.0,
maxOutput = 64.0, maxOutput = 64.0,
update = function(self, setpoint, pv, dt) update = function(self, setpoint, pv, dt)
if dt <= 0 then return 0.0 end
local error = setpoint - pv local error = setpoint - pv
local P = self.kp * error local P = self.kp * error
local D = 0 local D = self.kd * ((error - self.lastError) / dt)
if dt > 0 then D = self.kd * ((error - self.lastError) / dt) else D = 0 end
local potential_i = self.integral + (self.ki * error * dt) local potential_i = self.integral + (self.ki * error * dt)
@@ -880,7 +880,7 @@ function CreatePID(kp, ki, kd)
local clampedOutput = 0 local clampedOutput = 0
if self.minOutput <= potential_i and potential_i <= self.maxOutput then if raw_output >= self.minOutput and raw_output <= self.maxOutput then
self.integral = potential_i self.integral = potential_i
clampedOutput = raw_output clampedOutput = raw_output
else else
@@ -889,9 +889,7 @@ function CreatePID(kp, ki, kd)
self.lastError = error self.lastError = error
local normalizedOutput = (clampedOutput - self.minOutput) / (self.maxOutput - self.minOutput) return clampedOutput
return normalizedOutput
end end
} }
end end