update pid, work version

PID.h

@@ -1,51 +1,43 @@
 #ifndef PID_CONTROLLER_H
 #define PID_CONTROLLER_H
 
-#include <stdbool.h>
-
 typedef struct {
 
-    /* Controller gains */
-    float Kp;
-    float Ki;
-    float Kd;
+	/* Controller gains */
+	float Kp;
+	float Ki;
+	float Kd;
 
-    /* Default controller gains */
-    float KpDefault;
-    float KiDefault;
-    float KdDefault;
+	/* Derivative low-pass filter time constant */
+	float tau;
 
-    /* Derivative low-pass filter time constant */
-    float tau;
+	/* Output limits */
+	float limMin;
+	float limMax;
+	
+	/* Integrator limits */
+	float limMinInt;
+	float limMaxInt;
 
-    /* Output limits */
-    float limMin;
-    float limMax;
+	/* Sample time (in seconds) */
+	float T;
 
-    /* Integrator limits */
-    float limMinInt;
-    float limMaxInt;
+	/* pid coefficient offset for start pid */
+	float offset;
 
-    /* Sample time (in seconds) */
-    float T;
+	/* Controller "memory" */
+	float integrator;
+	float prevError;			/* Required for integrator */
+	float proportional;
+	float differentiator;
+	float prevMeasurement;		/* Required for differentiator */
 
-    bool enable;
+	/* Controller output */
+	float out;
 
-    /* Controller "memory" */
-    float proportional;
-    float integrator;
-    float prevError;            /* Required for integrator */
-    float differentiator;
-    float prevMeasurement;        /* Required for differentiator */
+} PIDController;
 
-    /* Controller output */
-    float out;
+void  PIDController_Init(PIDController *pid);
+float PIDController_Update(PIDController *pid, float setpoint, float measurement);
 
-} PidController;
-
-void pidControllerInit(PidController *pid, float Kp, float Ki, float Kd, float tau, float limMin, float limMax,
-                       float limMinInt, float limMaxInt, float T);
-
-float pidControllerUpdate(PidController *pid, float setpoint, float measurement);
-
-#endif //PID_CONTROLLER_H
+#endif