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Version 2.5.3 / Configurable yaw_p_limit for all pid controllers

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borisbstyle 2016-03-06 14:04:09 +01:00
parent 37bd1d65fd
commit 0aac025494
4 changed files with 13 additions and 8 deletions
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12
src/main/flight/pid.c
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@ -213,6 +213,11 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// -----calculate P component
PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100;
// Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
if((motorCount >= 4 && pidProfile->yaw_p_limit) && axis == YAW) {
PTerm = constrainf(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
}
// -----calculate I component.
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f);
@ -407,7 +412,7 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
PTerm = (int32_t)error * pidProfile->P8[FD_YAW] >> 6; // TODO: Bitwise shift on a signed integer is not recommended
// Constrain YAW by D value if not servo driven in that case servolimits apply
// Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
if(motorCount >= 4 && pidProfile->yaw_p_limit < YAW_P_LIMIT_MAX) {
PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
}
@ -504,6 +509,11 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
// -----calculate P component
PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
// Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
if((motorCount >= 4 && pidProfile->yaw_p_limit) && axis == YAW) {
PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
}
// -----calculate I component
// there should be no division before accumulating the error to integrator, because the precision would be reduced.
// Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.