git clone git://git.osmocom.org/sdrangelove.git

sdrbase/dsp/pidcontroller.h

@@ -0,0 +1,28 @@
+#ifndef INCLUDE_PIDCONTROLLER_H
+#define INCLUDE_PIDCONTROLLER_H
+
+#include "dsp/dsptypes.h"
+
+class PIDController {
+private:
+	Real m_p;
+	Real m_i;
+	Real m_d;
+	Real m_int;
+	Real m_diff;
+
+public:
+	PIDController();
+
+	void setup(Real p, Real i, Real d);
+
+	Real feed(Real v)
+	{
+		m_int += v * m_i;
+		Real d = m_d * (m_diff - v);
+		m_diff = v;
+		return (v * m_p) + m_int + d;
+	}
+};
+
+#endif // INCLUDE_PIDCONTROLLER_H