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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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19
src/main/flight/pid.h
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@ -128,13 +128,20 @@ PG_DECLARE(pidConfig_t, pidConfig);
union rollAndPitchTrims_u;
void pidController(const pidProfile_t *pidProfile, const union rollAndPitchTrims_u *angleTrim, timeUs_t currentTimeUs);
extern float axisPID_P[3], axisPID_I[3], axisPID_D[3];
extern float axisPIDSum[3];
bool airmodeWasActivated;
typedef struct pidAxisData_s {
float P;
float I;
float D;
float Sum;
} pidAxisData_t;
extern pidAxisData_t pidData[3];
extern uint32_t targetPidLooptime;
// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
extern uint8_t PIDweight[3];
extern float throttleBoost;
extern pt1Filter_t throttleLpf;
void pidResetITerm(void);
void pidStabilisationState(pidStabilisationState_e pidControllerState);
@ -145,5 +152,3 @@ void pidInit(const pidProfile_t *pidProfile);
void pidCopyProfile(uint8_t dstPidProfileIndex, uint8_t srcPidProfileIndex);
bool crashRecoveryModeActive(void);
extern float throttleBoost;
extern pt1Filter_t throttleLpf;