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Add anti_gravity_gain // new defaults

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This commit is contained in:
borisbstyle 2017-01-19 00:00:33 +01:00
parent b3c5980683
commit 093115a2a0
8 changed files with 24 additions and 12 deletions
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3
src/main/blackbox/blackbox.c
View file

@ -1258,7 +1258,8 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle:%d", currentProfile->pidProfile.pidAtMinThrottle);
// Betaflight PID controller parameters
BLACKBOX_PRINT_HEADER_LINE("itermThrottleThreshold:%d", currentProfile->pidProfile.itermThrottleThreshold);
BLACKBOX_PRINT_HEADER_LINE("anti_gravity_threshold:%d", currentProfile->pidProfile.itermThrottleThreshold);
BLACKBOX_PRINT_HEADER_LINE("anti_gravity_gain:%d", castFloatBytesToInt(currentProfile->pidProfile.itermAcceleratorGain));
BLACKBOX_PRINT_HEADER_LINE("setpointRelaxRatio:%d", currentProfile->pidProfile.setpointRelaxRatio);
BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d", currentProfile->pidProfile.dtermSetpointWeight);
BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d", castFloatBytesToInt(currentProfile->pidProfile.yawRateAccelLimit));

2
src/main/config/config_eeprom.h
View file

@ -17,7 +17,7 @@
#pragma once
#define EEPROM_CONF_VERSION 151
#define EEPROM_CONF_VERSION 152
void initEEPROM(void);
void writeEEPROM();

1
src/main/fc/cli.c
View file

@ -701,6 +701,7 @@ const clivalue_t valueTable[] = {
{ "vbat_pid_compensation", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
{ "pid_at_min_throttle", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidAtMinThrottle, .config.lookup = { TABLE_OFF_ON } },
{ "anti_gravity_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleThreshold, .config.minmax = {20, 1000 } },
{ "anti_gravity_gain", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermAcceleratorGain, .config.minmax = {1, 30 } },
{ "setpoint_relax_ratio", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.setpointRelaxRatio, .config.minmax = {0, 100 } },
{ "dterm_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 255 } },
{ "yaw_accel_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0.1f, 50.0f } },

11
src/main/fc/config.c
View file

@ -137,10 +137,10 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
static void resetPidProfile(pidProfile_t *pidProfile)
{
pidProfile->P8[ROLL] = 43;
pidProfile->P8[ROLL] = 40;
pidProfile->I8[ROLL] = 40;
pidProfile->D8[ROLL] = 20;
pidProfile->P8[PITCH] = 58;
pidProfile->P8[PITCH] = 55;
pidProfile->I8[PITCH] = 50;
pidProfile->D8[PITCH] = 22;
pidProfile->P8[YAW] = 70;
@ -177,13 +177,14 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->dterm_notch_cutoff = 160;
pidProfile->vbatPidCompensation = 0;
pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
pidProfile->levelAngleLimit = 70; // 70 degrees
pidProfile->levelSensitivity = 100; // 100 degrees at full stick
pidProfile->levelAngleLimit = 55;
pidProfile->levelSensitivity = 55;
pidProfile->setpointRelaxRatio = 30;
pidProfile->dtermSetpointWeight = 200;
pidProfile->yawRateAccelLimit = 10.0f;
pidProfile->rateAccelLimit = 0.0f;
pidProfile->itermThrottleThreshold = 350;
pidProfile->itermThrottleThreshold = 300;
pidProfile->itermAcceleratorGain = 4.0f;
}
void resetProfile(profile_t *profile)

4
src/main/fc/fc_core.c
View file

@ -200,7 +200,9 @@ void scaleRcCommandToFpvCamAngle(void) {
const int16_t rcCommandSpeed = rcCommand[THROTTLE] - rcCommandThrottlePrevious[index];
if(ABS(rcCommandSpeed) > throttleVelocityThreshold)
pidResetErrorGyroState();
pidSetItermAccelerator(currentProfile->pidProfile.itermAcceleratorGain);
else
pidSetItermAccelerator(1.0f);
}
void processRcCommand(void)

8
src/main/flight/pid.c
View file

@ -65,6 +65,12 @@ void pidResetErrorGyroState(void)
}
}
static float itermAccelerator = 1.0f;
void pidSetItermAccelerator(float newItermAccelerator) {
itermAccelerator = newItermAccelerator;
}
void pidStabilisationState(pidStabilisationState_e pidControllerState)
{
pidStabilisationEnabled = (pidControllerState == PID_STABILISATION_ON) ? true : false;
@ -237,7 +243,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
const float setpointRateScaler = constrainf(1.0f - (ABS(currentPidSetpoint) / accumulationThreshold), 0.0f, 1.0f);
float ITerm = previousGyroIf[axis];
ITerm += Ki[axis] * errorRate * dT * setpointRateScaler;
ITerm += Ki[axis] * errorRate * dT * setpointRateScaler * itermAccelerator;
// limit maximum integrator value to prevent WindUp
ITerm = constrainf(ITerm, -250.0f, 250.0f);
previousGyroIf[axis] = ITerm;

2
src/main/flight/pid.h
View file

@ -78,6 +78,7 @@ typedef struct pidProfile_s {
// Betaflight PID controller parameters
uint16_t itermThrottleThreshold; // max allowed throttle delta before errorGyroReset in ms
float itermAcceleratorGain; // Iterm Accelerator Gain when itermThrottlethreshold is hit
uint8_t setpointRelaxRatio; // Setpoint weight relaxation effect
uint8_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
float yawRateAccelLimit; // yaw accel limiter for deg/sec/ms
@ -102,6 +103,7 @@ extern uint8_t PIDweight[3];
void pidResetErrorGyroState(void);
void pidStabilisationState(pidStabilisationState_e pidControllerState);
void pidSetTargetLooptime(uint32_t pidLooptime);
void pidSetItermAccelerator(float newItermAccelerator);
void pidInitFilters(const pidProfile_t *pidProfile);
void pidInitConfig(const pidProfile_t *pidProfile);

5
src/main/target/NAZE/config.c
View file

@ -60,17 +60,16 @@ void targetConfiguration(master_t *config)
}*/
for (int profileId = 0; profileId < 2; profileId++) {
config->profile[profileId].pidProfile.P8[ROLL] = 95;
config->profile[profileId].pidProfile.P8[ROLL] = 60;
config->profile[profileId].pidProfile.I8[ROLL] = 70;
config->profile[profileId].pidProfile.D8[ROLL] = 17;
config->profile[profileId].pidProfile.P8[PITCH] = 120;
config->profile[profileId].pidProfile.P8[PITCH] = 80;
config->profile[profileId].pidProfile.I8[PITCH] = 90;
config->profile[profileId].pidProfile.D8[PITCH] = 18;
config->profile[profileId].pidProfile.P8[YAW] = 200;
config->profile[profileId].pidProfile.I8[YAW] = 45;
config->profile[profileId].pidProfile.P8[PIDLEVEL] = 30;
config->profile[profileId].pidProfile.D8[PIDLEVEL] = 30;
config->profile[profileId].pidProfile.levelSensitivity = 50;
for (int rateProfileId = 0; rateProfileId < MAX_RATEPROFILES; rateProfileId++) {
config->profile[profileId].controlRateProfile[rateProfileId].rcRate8 = 100;