File syn_flight_pid.c¶

FileList > control > syn_flight_pid.c

Zero-Heap 3-Axis Quadcopter Flight PID Stabilization & Motor Mixer Implementation.

#include "syntropic/control/syn_flight_pid.h"
#include <string.h>

Public Functions¶

Type	Name
SYN_Status	syn_flight_init (SYN_Flight_Controller * fc) Initialize 3-axis flight PID controller instance.
SYN_Status	syn_flight_update (SYN_Flight_Controller * fc, const SYN_Flight_IMU * imu, const SYN_Flight_Commands * cmd, uint32_t dt_ms, SYN_Flight_MotorOutputs * motors) Step 3-axis flight controller and compute Quad-X motor outputs.

Public Static Functions¶

Type	Name
uint16_t	clamp_us (int32_t val) Clamp pulse width value to 1000..2000 us servo range.

Public Functions Documentation¶

function syn_flight_init¶

Initialize 3-axis flight PID controller instance.

SYN_Status syn_flight_init (
    SYN_Flight_Controller * fc
)

Parameters:

fc Pointer to flight controller struct.

Returns:

SYN_OK on success.

function syn_flight_update¶

Step 3-axis flight controller and compute Quad-X motor outputs.

SYN_Status syn_flight_update (
    SYN_Flight_Controller * fc,
    const SYN_Flight_IMU * imu,
    const SYN_Flight_Commands * cmd,
    uint32_t dt_ms,
    SYN_Flight_MotorOutputs * motors
)

Parameters:

fc Pointer to flight controller struct.
imu Pointer to IMU measurements.
cmd Pointer to pilot command inputs.
dt_ms Time step in milliseconds (e.g. 1ms = 1kHz loop).
motors Pointer to output motor commands struct.

Returns:

SYN_OK on success.

Public Static Functions Documentation¶

function clamp_us¶

Clamp pulse width value to 1000..2000 us servo range.

static uint16_t clamp_us (
    int32_t val
)

Parameters:

val Input pulse width value.

Returns:

Clamped pulse width in us.

The documentation for this class was generated from the following file src/syntropic/control/syn_flight_pid.c