四轴飞行器pid算法代码

以下是一个简单的四轴飞行器PID算法代码，可以用于控制四个电机的转速，以实现飞行器的稳定控制：

#define Kp 1.0
#define Ki 0.0
#define Kd 0.0

float rollPID(float setpoint, float input, float dt)
{
  static float error = 0, integral = 0, derivative = 0, prev_input = 0;
  
  error = setpoint - input;
  integral += error * dt;
  derivative = (input - prev_input) / dt;
  
  prev_input = input;
  
  float output = Kp * error + Ki * integral + Kd * derivative;
  return output;
}

float pitchPID(float setpoint, float input, float dt)
{
  static float error = 0, integral = 0, derivative = 0, prev_input = 0;
  
  error = setpoint - input;
  integral += error * dt;
  derivative = (input - prev_input) / dt;
  
  prev_input = input;
  
  float output = Kp * error + Ki * integral + Kd * derivative;
  return output;
}

float yawPID(float setpoint, float input, float dt)
{
  static float error = 0, integral = 0, derivative = 0, prev_input = 0;
  
  error = setpoint - input;
  integral += error * dt;
  derivative = (input - prev_input) / dt;
  
  prev_input = input;
  
  float output = Kp * error + Ki * integral + Kd * derivative;
  return output;
}

这里仅仅是一个简单的PID算法代码，实际在控制四轴飞行器时还需要考虑很多其他因素，例如加速度计、陀螺仪、电机控制等等。因此，建议在实际应用中根据具体情况进行调整和优化。