Development discussion of TauLabs software such as flight controllers, sensors, radios and speed controllers.

PID Implementation

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RedJason

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PID Implementation

by RedJason » Wed Oct 26, 2016 7:59 am

Hi, I'm working on the PID implementation in taulabs. I noticed that there was an attempt to discretize the PID signal (in the arm_pid_init(f32/q15)) by using the A0, A1 and A2 via z-transform but it seems that it is not used. So I would like to know if this part of the code is used, is still being developed or it was left because for some specific reason? Thanks for your answer.
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peabody124

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Re: PID Implementation

by peabody124 » Sat Oct 29, 2016 3:11 pm

Can you link to the relevant part of the code? I think those methods are parts of the CMSIS/DSP library but not linked into anything we do.
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RedJason

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Re: PID Implementation

by RedJason » Wed Nov 02, 2016 3:13 pm

@peabody124 Here is the link https://github.com/TauLabs/TauLabs/blob ... init_f32.c where it seems that there is a PID.
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Re: PID Implementation

by peabody124 » Wed Nov 02, 2016 10:52 pm

That's what I'm saying -- that's a stock CMSIS DSP library. We don't call that method from anywhere.
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Re: PID Implementation

by RedJason » Thu Nov 03, 2016 8:36 am

Thanks for your reply @peabody124

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