void UpdatePIDValues(PIDProfile newPIDprofile)
{
Debug.Log("set pid values to " + newPIDprofile.name);
proximityPIDX = new PidController(newPIDprofile.PIDxP, newPIDprofile.PIDxI, newPIDprofile.PIDxD, 1, -1);
proximityPIDY = new PidController(newPIDprofile.PIDyP, newPIDprofile.PIDyI, newPIDprofile.PIDyD, 1, -1);
proximityPIDZ = new PidController(newPIDprofile.PIDzP, newPIDprofile.PIDzI, newPIDprofile.PIDzD, 1, -1);
yawPID = new PidController(newPIDprofile.yawP, newPIDprofile.yawI, newPIDprofile.yawD, 1, -1);
proximityPIDX.SetPoint = 0;
proximityPIDY.SetPoint = 0;
proximityPIDZ.SetPoint = 0;
yawPID.SetPoint = 0;
}
public void ApplyProfile(PIDProfile profile, PIDAxis axis)
{
switch (axis)
{
case PIDAxis.Roll:
Kp = profile.rollP;
Ki = profile.rollI;
Kd = profile.rollD;
break;
case PIDAxis.Pitch:
Kp = profile.pitchP;
Ki = profile.pitchI;
Kd = profile.pitchD;
break;
case PIDAxis.Yaw:
Kp = profile.yawP;
Ki = profile.yawI;
Kd = profile.yawD;
break;
}
}
public PIDRegulator(PIDProfile p)
{
profile = p;
}
