I'm trying to integrate my PID controller code by C into my Simulink model using matlab function block.
I want to initialize the integrator into 0 when the simulation starts and then use the returned integral value, however, I don't know how to initialize the integrator.
My C code and the code in the matlab function block are below.
C code :
void Roll_CTLR(double Roll_CMD, FBData* Data, double* integral, double *Roll_out)
double pi = 3.1415926535;
double error = (Roll_CMD - Data->Roll_angle) * D2R;
double p_val = error * P_gain;
double i_val = error * I_gain * 0.01;
*Roll_out = p_val + i_val;
Matlab code :
function out = Roll_controller(Roll_CMD, Roll_angle, Roll_rate)
intg = coder.opaque('static double*','0');
s = struct('Roll_rate',Roll_rate,'Pitch_rate',Pitch,'Yaw_rate',Yaw,'Roll_angle',Roll_angle,'Pitch_angle',Pitch,'Heading_angle',Yaw);
coder.cstructname(s,'FBData','extern','HeaderFile','Multicopter_CTLR.h');
coder.ceval('Roll_CTLR', Roll_CMD, coder.ref(s), coder.ref(intg), coder.ref(out));
When I executed the code, there is no error, but the result is different what I thought.
I think this is because the integrator is initialized in every execution, so the integrator doesn't work what I wanted.
How can I modify the code to make the integrator works right?
