Changed embedded PID class to a struct

AttitudeManager/Inc/PID.hpp

@@ -39,6 +39,18 @@ enum PidAxis{
  Throttle
 };
 
+typedef struct PidConfig_t{
+ float kp;
+ float kd;
+ float ki;
+ float i_max;
+ float min_output;
+ float max_output;
+ float desired;
+ float actual;
+ float actualRate;
+} PidConfig_t;
+
  /**
  * Initialises the Pid object.
  * @param[in] _kp The proportional gain.
@@ -56,27 +68,27 @@ enum PidAxis{
 
 class PIDController {
  public:
- class PID {
- public:
-  float kp, kd, ki, i_max, min_output, max_output, desired, actual, actualRate;
- };
+ PidConfig_t pid_conf;
+
+ //Default Constructor
+ PIDController() = default;
 
  PIDController( float _kp, float _kd, float _ki, float _i_max, float _min_output, float _max_output, 
  float _desired, float _actual, float _actualRate )
- : pid{.kp = _kp,
-  .kd = _kd,
-  .ki = _ki,
-  .i_max = _i_max,
-  .min_output = _min_output,
-  .max_output = _max_output,
-  .desired = _desired,
-  .actual = _actual,
-  .actualRate = _actualRate},
-  integral(0.0f),
-  prevError(0.0f){}
+ : pid_conf{.kp = _kp,
+ .kd = _kd,
+ .ki = _ki,
+ .i_max = _i_max,
+ .min_output = _min_output,
+ .max_output = _max_output,
+ .desired = _desired,
+ .actual = _actual,
+ .actualRate = _actualRate},
+ integral(0.0f),
+ prevError(0.0f){}
 
  //Constructor taking pre-constructed PID strucutre
- PIDController(PIDController::PID _pid) : pid(_pid), integral(0.0f) {}
+ PIDController(const PidConfig_t& _pid_conf) : pid_conf(_pid_conf), integral(0.0f), prevError(0.0f) {}
 
  //Destructor using C++ default
  ~PIDController() = default;
@@ -108,38 +120,37 @@ class PIDController {
  float execute_d_back(float _desired, float _actual, float _actualRate);
 
  float getIntegral() { return integral; }
- void setKi(float _ki) {pid.ki = _ki;};
- void setKp(float _kp) {pid.kp = _kp;};
- void setKd(float _kd) {pid.kd = _kd;};
+ void setKi(float _ki) {pid_conf.ki = _ki;};
+ void setKp(float _kp) {pid_conf.kp = _kp;};
+ void setKd(float _kd) {pid_conf.kd = _kd;};
  void setGainTerm(GainTerm _gainTerm, float _desired_gain);
- void setDesired(float _desired) {pid.desired = _desired;};
- void setActual(float _actual) {pid.actual = _actual;};
- void setActualRate(float _actualRate) {pid.actualRate = _actualRate;};
+ void setDesired(float _desired) {pid_conf.desired = _desired;};
+ void setActual(float _actual) {pid_conf.actual = _actual;};
+ void setActualRate(float _actualRate) {pid_conf.actualRate = _actualRate;};
 
  float map(float x, float in_min, float in_max, float out_min, float out_max);
 
-
- void setNewPid(PID _pid) { pid = _pid; }
- void setNewPid(float _kp, float _ki, float _kd, float _i_max, float _min_output, float _max_output, float _desired, float _actual, float _actualRate) {
- pid = PID{.kp = _kp,
- .kd = _kd,
- .ki = _ki,
- .i_max = _i_max,
- .min_output = _min_output,
- .max_output = _max_output,
- .desired = _desired,
- .actual = _actual,
- .actualRate = _actualRate
-};
+ void setNewPid(const PidConfig_t& new_pid_conf) { pid_conf = new_pid_conf; }
+
+ void setNewPid(float _kp, float _ki, float _kd, float _i_max, float _min_output, float _max_output, 
+ float _desired, float _actual, float _actualRate) {
+ pid_conf = PidConfig_t{
+ .kp = _kp,
+ .kd = _kd,
+ .ki = _ki,
+ .i_max = _i_max,
+ .min_output = _min_output,
+ .max_output = _max_output,
+ .desired = _desired,
+ .actual = _actual,
+ .actualRate = _actualRate 
+ };
  }
 
  private:
- PID pid;
-
  float integral = 0.0f;
- float prevError = 0.0f;
- float historicalValue[3] = {0.0f}; // Allows us to compute our derivative
- // if necessary
+ float prevError = 0.0f; //Compute derivative using back calculation if needed
+ float historicalValue[3] = {0.0f}; // Compute derivative using historical data if needed
 };
 
 #endif /* PID_HPP_ */