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PID code cleanup // refactoring

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borisbstyle 2016-12-30 12:04:44 +01:00
parent 4e3704374a
commit 1030df294d
8 changed files with 110 additions and 86 deletions
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8
src/main/flight/pid.h
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@ -72,23 +72,23 @@ typedef struct pidProfile_s {
uint8_t dterm_average_count; // Configurable delta count for dterm
uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage
uint8_t pidAtMinThrottle; // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
float max_angle_inclination;
// Betaflight PID controller parameters
uint16_t itermThrottleThreshold; // max allowed throttle delta before errorGyroReset in ms
uint8_t setpointRelaxRatio; // Setpoint weight relaxation effect
uint8_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
uint16_t yawRateAccelLimit; // yaw accel limiter for deg/sec/ms
uint16_t rateAccelLimit; // accel limiter roll/pitch deg/sec/ms
float yawRateAccelLimit; // yaw accel limiter for deg/sec/ms
float rateAccelLimit; // accel limiter roll/pitch deg/sec/ms
float levelSensitivity;
} pidProfile_t;
typedef struct pidConfig_s {
uint8_t pid_process_denom; // Processing denominator for PID controller vs gyro sampling rate
uint16_t max_angle_inclination;
} pidConfig_t;
union rollAndPitchTrims_u;
void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclination, const union rollAndPitchTrims_u *angleTrim, uint16_t midrc);
void pidController(const pidProfile_t *pidProfile, const union rollAndPitchTrims_u *angleTrim);
extern float axisPIDf[3];
extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];