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Add option to fully disable PID controller on zero throttle

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This commit is contained in:
borisbstyle 2016-07-18 02:18:04 +02:00
parent 37fd2e5adc
commit 0ae5d9734e
6 changed files with 26 additions and 6 deletions
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1
src/main/config/config.c
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@ -220,6 +220,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->dterm_lpf_hz = 100; // filtering ON by default
pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
pidProfile->vbatPidCompensation = 0;
pidProfile->zeroThrottleStabilisation = PID_STABILISATION_OFF;
// Betaflight PID controller parameters
pidProfile->toleranceBand = 15;

2
src/main/flight/mixer.c
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@ -70,8 +70,6 @@ static bool syncPwmWithPidLoop = false;
static mixerMode_e currentMixerMode;
static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
float errorLimiter = 1.0f;
#ifdef USE_SERVOS
static uint8_t servoRuleCount = 0;
static servoMixer_t currentServoMixer[MAX_SERVO_RULES];

15
src/main/flight/pid.c
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@ -49,9 +49,10 @@
extern uint8_t motorCount;
uint32_t targetPidLooptime;
extern float errorLimiter;
extern float angleRate[3], angleRateSmooth[3];
static bool pidStabilisationEnabled;
int16_t axisPID[3];
#ifdef BLACKBOX
@ -76,14 +77,17 @@ void setTargetPidLooptime(uint8_t pidProcessDenom)
void pidResetErrorGyroState(void)
{
int axis;
for (axis = 0; axis < 3; axis++) {
for (int axis = 0; axis < 3; axis++) {
errorGyroI[axis] = 0;
errorGyroIf[axis] = 0.0f;
}
}
void pidStabilisationState(pidStabilisationState_e pidControllerState)
{
pidStabilisationEnabled = (pidControllerState == PID_STABILISATION_ON) ? true : false;
}
float getdT (void)
{
static float dT;
@ -269,6 +273,8 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -1000, 1000);
}
if (!pidStabilisationEnabled) axisPID[axis] = 0;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(axis);
@ -409,6 +415,7 @@ static void pidLegacy(const pidProfile_t *pidProfile, uint16_t max_angle_inclina
axisPID[axis] = PTerm + ITerm + DTerm;
}
if (!pidStabilisationEnabled) axisPID[axis] = 0;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {

7
src/main/flight/pid.h
View file

@ -62,6 +62,11 @@ typedef enum {
POSITIVE_ERROR
} pidErrorPolarity_e;
typedef enum {
PID_STABILISATION_OFF = 0,
PID_STABILISATION_ON
} pidStabilisationState_e;
typedef struct pidProfile_s {
uint8_t pidController; // 1 = rewrite betaflight evolved from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671, 2 = Betaflight PIDc (Evolved Luxfloat)
@ -77,6 +82,7 @@ typedef struct pidProfile_s {
uint16_t yaw_p_limit;
uint8_t dterm_average_count; // Configurable delta count for dterm
uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage
uint8_t zeroThrottleStabilisation; // Disable/Enable zero throttle stabilisation. Normally even without airmode P and D would be active.
// Betaflight PID controller parameters
uint8_t toleranceBand; // Error tolerance area where toleranceBandReduction is applied under certain circumstances
@ -107,5 +113,6 @@ extern uint32_t targetPidLooptime;
void pidSetController(pidControllerType_e type);
void pidResetErrorGyroState(void);
void pidStabilisationState(pidStabilisationState_e pidControllerState);
void setTargetPidLooptime(uint8_t pidProcessDenom);

1
src/main/io/serial_cli.c
View file

@ -766,6 +766,7 @@ const clivalue_t valueTable[] = {
{ "mag_declination", VAR_INT16 | MASTER_VALUE, &masterConfig.mag_declination, .config.minmax = { -18000, 18000 } },
{ "dterm_lowpass", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
{ "vbat_pid_compensation", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
{ "zero_throttle_stabilisation",VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.zeroThrottleStabilisation, .config.lookup = { TABLE_OFF_ON } },
{ "motor_accel_limit_percent", VAR_UINT16 | MASTER_VALUE, &masterConfig.profile[0].pidProfile.accelerationLimitPercent, .config.minmax = { 0, 10000 } },
{ "pid_tolerance_band", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.toleranceBand, .config.minmax = {0, 200 } },
{ "tolerance_band_reduction", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.toleranceBandReduction, .config.minmax = {0, 100 } },

6
src/main/mw.c
View file

@ -518,6 +518,12 @@ void processRx(void)
This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
if (throttleStatus == THROTTLE_LOW && !wasAirmodeIsActivated) {
pidResetErrorGyroState();
if (currentProfile->pidProfile.zeroThrottleStabilisation)
pidStabilisationState(PID_STABILISATION_ON);
else
pidStabilisationState(PID_STABILISATION_OFF);
} else {
if (currentProfile->pidProfile.zeroThrottleStabilisation || wasAirmodeIsActivated) pidStabilisationState(PID_STABILISATION_ON);
}
// When armed and motors aren't spinning, do beeps and then disarm