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Added non PID airplane flight control system (AFCS) as special flight mode for airplanes

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This commit is contained in:
demvlad 2025-03-31 11:25:45 +03:00
parent 9eb7d1920b
commit 125cb1f4cc
13 changed files with 163 additions and 3 deletions
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23
src/main/flight/pid.c
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@ -64,6 +64,9 @@
#include "pid.h"
#ifdef USE_AIRPLANE_FCS
#include "airplane_fcs.h"
#endif
typedef enum {
LEVEL_MODE_OFF = 0,
LEVEL_MODE_R,
@ -267,6 +270,18 @@ void resetPidProfile(pidProfile_t *pidProfile)
.chirp_frequency_start_deci_hz = 2,
.chirp_frequency_end_deci_hz = 6000,
.chirp_time_seconds = 20,
#ifdef USE_AIRPLANE_FCS
.afcs_pitch_stick_gain = 100,
.afcs_pitch_damping_gain = 20,
.afcs_pitch_damping_filter_time = 100,
.afcs_pitch_stability_gain = 0,
.afcs_roll_stick_gain = 100,
.afcs_roll_damping_gain = 25,
.afcs_yaw_stick_gain = 100,
.afcs_yaw_damping_gain = 500,
.afcs_yaw_damping_filter_time = 3000,
.afcs_yaw_stability_gain = 0,
#endif
);
}
@ -1240,6 +1255,14 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
#endif // USE_CHIRP
#ifdef USE_AIRPLANE_FCS
bool isAFCS = isFixedWing() && FLIGHT_MODE(AIRPLANE_FCS_MODE);
if (isAFCS) {
afcsUpdate(pidProfile, currentTimeUs);
return; // The airplanes FCS do not need PID controller
}
#endif
// ----------PID controller----------
for (int axis = FD_ROLL; axis <= FD_YAW; ++axis) {