26 lines
319 B
C
26 lines
319 B
C
#ifndef PID_H
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#define PID_H
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#include "stm32g431xx.h"
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typedef struct
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{
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float kp;
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float ki;
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float kd;
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float integral;
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float prev_error;
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} pid_t;
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typedef struct
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{
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float roll;
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float pitch;
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float yaw;
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} control_channels_t;
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float pid_update(pid_t* pid, float error, float gyro_rate, float dt);
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#endif |