Cleanup

src/main/blackbox/blackbox.c

@@ -1279,9 +1279,6 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle:%d",                 masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidAtMinThrottle);
 
         // Betaflight PID controller parameters
-        BLACKBOX_PRINT_HEADER_LINE("toleranceBand:%d",                    masterConfig.profile[masterConfig.current_profile_index].pidProfile.toleranceBand);
-        BLACKBOX_PRINT_HEADER_LINE("toleranceBandReduction:%d",           masterConfig.profile[masterConfig.current_profile_index].pidProfile.toleranceBandReduction);
-        BLACKBOX_PRINT_HEADER_LINE("zeroCrossAllowanceCount:%d",          masterConfig.profile[masterConfig.current_profile_index].pidProfile.zeroCrossAllowanceCount);
         BLACKBOX_PRINT_HEADER_LINE("itermThrottleGain:%d",                masterConfig.profile[masterConfig.current_profile_index].pidProfile.itermThrottleGain);
         BLACKBOX_PRINT_HEADER_LINE("ptermSRateWeight:%d",                 masterConfig.profile[masterConfig.current_profile_index].pidProfile.ptermSRateWeight);
         BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d",              masterConfig.profile[masterConfig.current_profile_index].pidProfile.dtermSetpointWeight);

src/main/config/config.c

@@ -247,13 +247,10 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
 
     // Betaflight PID controller parameters
-    pidProfile->ptermSRateWeight = 50;
+    pidProfile->ptermSRateWeight = 100;
     pidProfile->dtermSetpointWeight = 150;
     pidProfile->yawRateAccelLimit = 220;
     pidProfile->rateAccelLimit = 0;
-    pidProfile->toleranceBand = 0;
-    pidProfile->toleranceBandReduction = 40;
-    pidProfile->zeroCrossAllowanceCount = 2;
     pidProfile->itermThrottleGain = 0;
 
 #ifdef GTUNE
@@ -491,7 +488,7 @@ void createDefaultConfig(master_t *config)
 #endif
     config->gyro_soft_type = FILTER_PT1;
     config->gyro_soft_lpf_hz = 90;
-    config->gyro_soft_notch_hz = 210;
+    config->gyro_soft_notch_hz = 220;
     config->gyro_soft_notch_cutoff = 110;
 
     config->debug_mode = DEBUG_NONE;

src/main/flight/pid.c

@@ -235,36 +235,8 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
         errorRate = setpointRate[axis] - PVRate;       // r - y
         rP = ptermSetpointRate[axis] - PVRate;         // br - y
 
-        // Reduce Hunting effect and jittering near setpoint. Limit multiple zero crossing within deadband and lower PID affect during low error amount
-        float dynReduction = tpaFactor;
-        if (pidProfile->toleranceBand) {
-            const float minReduction = (float)pidProfile->toleranceBandReduction / 100.0f;
-            static uint8_t zeroCrossCount[3];
-            static uint8_t currentErrorPolarity[3];
-            if (ABS(errorRate) < pidProfile->toleranceBand) {
-                if (zeroCrossCount[axis]) {
-                    if (currentErrorPolarity[axis] == POSITIVE_ERROR) {
-                        if (errorRate < 0 ) {
-                            zeroCrossCount[axis]--;
-                            currentErrorPolarity[axis] = NEGATIVE_ERROR;
-                        }
-                    } else {
-                        if (errorRate > 0 ) {
-                            zeroCrossCount[axis]--;
-                            currentErrorPolarity[axis] = POSITIVE_ERROR;
-                        }
-                    }
-                } else {
-                    dynReduction *= constrainf(ABS(errorRate) / pidProfile->toleranceBand, minReduction, 1.0f);
-                }
-            } else {
-                zeroCrossCount[axis] =  pidProfile->zeroCrossAllowanceCount;
-                currentErrorPolarity[axis] = (errorRate > 0) ? POSITIVE_ERROR : NEGATIVE_ERROR;
-            }
-        }
-
         // -----calculate P component
-        PTerm = Kp[axis] * rP * dynReduction;
+        PTerm = Kp[axis] * rP * tpaFactor;
 
         // -----calculate I component.
         // Reduce strong Iterm accumulation during higher stick inputs
@@ -289,7 +261,7 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
             // Divide delta by targetLooptime to get differential (ie dr/dt)
             delta *= (1.0f / getdT());
 
-            if (debugMode == DEBUG_DTERM_FILTER) debug[axis] = Kd[axis] * delta * dynReduction;
+            if (debugMode == DEBUG_DTERM_FILTER) debug[axis] = Kd[axis] * delta * tpaFactor;
 
             // Filter delta
             if (dtermNotchInitialised) delta = biquadFilterApply(&dtermFilterNotch[axis], delta);
@@ -302,7 +274,7 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
                 }
             }
 
-            DTerm = Kd[axis] * delta * dynReduction;
+            DTerm = Kd[axis] * delta * tpaFactor;
 
             // -----calculate total PID output
             axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -900, 900);

src/main/flight/pid.h

@@ -63,11 +63,6 @@ typedef enum {
     SUPEREXPO_YAW_ALWAYS
 } pidSuperExpoYaw_e;
 
-typedef enum {
-    NEGATIVE_ERROR = 0,
-    POSITIVE_ERROR
-} pidErrorPolarity_e;
-
 typedef enum {
     PID_STABILISATION_OFF = 0,
     PID_STABILISATION_ON
@@ -94,9 +89,6 @@ typedef struct pidProfile_s {
     uint8_t pidAtMinThrottle;               // Disable/Enable pids on zero throttle. 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
-    uint8_t toleranceBandReduction;         // Lowest possible P and D reduction in percentage
-    uint8_t zeroCrossAllowanceCount;        // Amount of bouncebacks within tolerance band allowed before reduction kicks in
     uint8_t itermThrottleGain;              // Throttle coupling to iterm. Quick throttle changes will bump iterm
     uint8_t ptermSRateWeight;               // Setpoint super expo ratio for Pterm (lower means that pretty much only P has super expo rates)
     uint8_t dtermSetpointWeight;            // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)

src/main/io/serial_cli.c

@@ -850,9 +850,6 @@ const clivalue_t valueTable[] = {
     { "dterm_notch_cutoff",         VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_cutoff, .config.minmax = { 1,  500 } },
     { "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 } },
-    { "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 } },
-    { "zero_cross_allowance",       VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.zeroCrossAllowanceCount, .config.minmax = {0, 50 } },
     { "iterm_throttle_gain",        VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleGain, .config.minmax = {0, 200 } },
     { "pterm_srate_ratio",          VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.ptermSRateWeight, .config.minmax = {0, 100 } },
     { "dterm_setpoint_weight",      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 255 } },

src/main/io/serial_msp.c

@@ -1270,8 +1270,8 @@ static bool processOutCommand(uint8_t cmdMSP)
         serialize8(currentProfile->pidProfile.vbatPidCompensation);
         serialize8(currentProfile->pidProfile.ptermSRateWeight);
         serialize8(currentProfile->pidProfile.dtermSetpointWeight);
-        serialize8(currentProfile->pidProfile.toleranceBand);
+        serialize8(0); // reserved
-        serialize8(currentProfile->pidProfile.toleranceBandReduction);
+        serialize8(0); // reserved
         serialize8(currentProfile->pidProfile.itermThrottleGain);
         serialize16(currentProfile->pidProfile.rateAccelLimit);
         serialize16(currentProfile->pidProfile.yawRateAccelLimit);
@@ -1868,8 +1868,8 @@ static bool processInCommand(void)
         currentProfile->pidProfile.vbatPidCompensation = read8();
         currentProfile->pidProfile.ptermSRateWeight = read8();
         currentProfile->pidProfile.dtermSetpointWeight = read8();
-        currentProfile->pidProfile.toleranceBand = read8();
+        read8(); // reserved
-        currentProfile->pidProfile.toleranceBandReduction = read8();
+        read8(); // reserved
         currentProfile->pidProfile.itermThrottleGain = read8();
         currentProfile->pidProfile.rateAccelLimit = read16();
         currentProfile->pidProfile.yawRateAccelLimit = read16();