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[4.5.2] Fix angle mode rate change (#13864)

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Mark Haslinghuis 2024-08-30 22:51:34 +02:00 • committed by GitHub
parent 77141cfeb9
commit 07da4999c7
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3 changed files with 4 additions and 4 deletions
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6
src/main/flight/pid.c
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@ -376,15 +376,17 @@ STATIC_UNIT_TESTED FAST_CODE_NOINLINE float pidLevel(int axis, const pidProfile_
// We now use Acro Rates, transformed into the range +/- 1, to provide setpoints
const float angleLimit = pidProfile->angle_limit;
float angleFeedforward = 0.0f;
// if user changes rates profile, update the max setpoint for angle mode
const float maxSetpointRateInv = 1.0f / getMaxRcRate(axis);
#ifdef USE_FEEDFORWARD
angleFeedforward = angleLimit * getFeedforward(axis) * pidRuntime.angleFeedforwardGain * pidRuntime.maxRcRateInv[axis];
angleFeedforward = angleLimit * getFeedforward(axis) * pidRuntime.angleFeedforwardGain * maxSetpointRateInv;
// angle feedforward must be heavily filtered, at the PID loop rate, with limited user control over time constant
// it MUST be very delayed to avoid early overshoot and being too aggressive
angleFeedforward = pt3FilterApply(&pidRuntime.angleFeedforwardPt3[axis], angleFeedforward);
#endif
float angleTarget = angleLimit * currentPidSetpoint * pidRuntime.maxRcRateInv[axis];
float angleTarget = angleLimit * currentPidSetpoint * maxSetpointRateInv;
// use acro rates for the angle target in both horizon and angle modes, converted to -1 to +1 range using maxRate
#ifdef USE_GPS_RESCUE

1
src/main/flight/pid.h
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@ -421,7 +421,6 @@ typedef struct pidRuntime_s {
float angleEarthRef;
float angleTarget[2];
bool axisInAngleMode[3];
float maxRcRateInv[2];
#endif
} pidRuntime_t;

1
src/main/flight/pid_init.c
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@ -251,7 +251,6 @@ void pidInitFilters(const pidProfile_t *pidProfile)
for (int axis = 0; axis < 2; axis++) { // ROLL and PITCH only
pt3FilterInit(&pidRuntime.attitudeFilter[axis], k);
pt3FilterInit(&pidRuntime.angleFeedforwardPt3[axis], k2);
pidRuntime.maxRcRateInv[axis] = 1.0f / getMaxRcRate(axis);
}
pidRuntime.angleYawSetpoint = 0.0f;
#endif