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Code Issues Wiki Activity

Optimized the PID loop a little bit (#5661)

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* * Put PID variables into the structure
* Precalculate DTerm gyro filter outside the axis loop
* Removed unused variables PIDweight[3], airmodeWasActivated
* If zero throttle or gyro overflow, we can just set values and exit, this saves checks and jumps in axis loop
* Compute PIDSUM after the axis loop, this saves branching inside the loop because of Yaw has no D term

* * Incorporated review changes from DieHertz and fujin

* * Incorporated another review requests from DieHertz
  - PidSum renamed to Sum
  - pidData[3] redone to pidData[XYZ_AXIS_COUNT]
This commit is contained in:
Miroslav Drbal [ApoC] 2018-04-10 22:22:51 +02:00 • committed by Michael Keller
parent 696478d04c
commit 045557561d
7 changed files with 100 additions and 80 deletions
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13
src/main/flight/mixer.c
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@ -358,10 +358,9 @@ bool mixerIsOutputSaturated(int axis, float errorRate)
{
if (axis == FD_YAW && mixerIsTricopter()) {
return mixerTricopterIsServoSaturated(errorRate);
} else {
return motorMixRange >= 1.0f;
}
return false;
return motorMixRange >= 1.0f;
}
// All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator
@ -743,13 +742,13 @@ void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensation)
// Find min and max throttle based on conditions. Throttle has to be known before mixing
calculateThrottleAndCurrentMotorEndpoints(currentTimeUs);
// Calculate and Limit the PIDsum
// Calculate and Limit the PID sum
const float scaledAxisPidRoll =
constrainf(axisPIDSum[FD_ROLL], -currentPidProfile->pidSumLimit, currentPidProfile->pidSumLimit) / PID_MIXER_SCALING;
constrainf(pidData[FD_ROLL].Sum, -currentPidProfile->pidSumLimit, currentPidProfile->pidSumLimit) / PID_MIXER_SCALING;
const float scaledAxisPidPitch =
constrainf(axisPIDSum[FD_PITCH], -currentPidProfile->pidSumLimit, currentPidProfile->pidSumLimit) / PID_MIXER_SCALING;
constrainf(pidData[FD_PITCH].Sum, -currentPidProfile->pidSumLimit, currentPidProfile->pidSumLimit) / PID_MIXER_SCALING;
float scaledAxisPidYaw =
constrainf(axisPIDSum[FD_YAW], -currentPidProfile->pidSumLimitYaw, currentPidProfile->pidSumLimitYaw) / PID_MIXER_SCALING;
constrainf(pidData[FD_YAW].Sum, -currentPidProfile->pidSumLimitYaw, currentPidProfile->pidSumLimitYaw) / PID_MIXER_SCALING;
if (!mixerConfig()->yaw_motors_reversed) {
scaledAxisPidYaw = -scaledAxisPidYaw;
}