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Code Issues Wiki Activity

Cleanup

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This commit is contained in:
borisbstyle 2016-09-08 22:37:35 +02:00
parent 0d1cc8f448
commit 13b189b4ff
6 changed files with 9 additions and 54 deletions
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3
src/main/blackbox/blackbox.c
View file

@ -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);

7
src/main/config/config.c
View file

@ -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;

34
src/main/flight/pid.c
View file

@ -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);

8
src/main/flight/pid.h
View file

@ -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)

3
src/main/io/serial_cli.c
View file

@ -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 } },

8
src/main/io/serial_msp.c
View file

@ -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(currentProfile->pidProfile.toleranceBandReduction);
serialize8(0); // reserved
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();
currentProfile->pidProfile.toleranceBandReduction = read8();
read8(); // reserved
read8(); // reserved
currentProfile->pidProfile.itermThrottleGain = read8();
currentProfile->pidProfile.rateAccelLimit = read16();
currentProfile->pidProfile.yawRateAccelLimit = read16();