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PID controller feedforward
Restructures the PID controller to decouple feedforward from D. Cleaned up the structure of the PID controller; moved some feature-based enhancements out of the main structure. Feedforward becomes a separate component of the PID controller and there is now: f_pitch f_roll f_yaw The default values of 60 for pitch and roll matches the default setpoint weight used in BF3.4. Yaw previously had no setpoint weight capability so the default here needs to be discussed. Currently it's also set to 60 and flight testing seems positive. Feedforward on yaw adds a lot of value so I don't think we want to default to 0. Instead we need decide on the default. All occurences of setpoint weight have been replaced by feedforward. "setpoint_relax_ratio" has been renamed to "feedforward_transition". The pidSum now consists of P + I + D + F. D has been added back for yaw (disabled by default with d_yaw = 0). We've found little need for D for normal quads but it may have value for other configurations - particularly tricopters. Updated CMS menus to support adjusting the feedforward for each axis. Changed the default for "rc_interp_ch" to be "RPYT". Need yaw to be smoothed to support feedforward. Open issues: Needs BFC support - Need to add support for the axis "F" gains. - Remove "setpoint weight" slider. - Rename "D Setpoint transition" to "Feedforward transition" Needs BBE support - Header "setpoint_relaxation_ratio" has been renamed "feedforward_transition" - Header "dterm_setpoint_weight" has been replaced with an array named "feed_forward_weight". example: H feed_forward_weight:65,60,60 (R,P,Y) - PID component "AXISF" has been added for all axes. Should be handled like P, I and D values. - PidSum calculation needs to include F. Needs LUA script support - Support the renamed "setpoint_relax_ratio". - Support for feedforward weight on all 3 axes. Open code issues: - rc_adjustments.c - support for adjusting feedforward weight for all axes. Currently only supporting roll - needs coordination with BFC.
This commit is contained in:
Bruce Luckcuck
parent
625b23915e
commit
17e76e48f6
13 changed files with 201 additions and 145 deletions
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@ -58,6 +58,7 @@ static uint8_t tmpPidProfileIndex;
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static uint8_t pidProfileIndex;
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static char pidProfileIndexString[] = " p";
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static uint8_t tempPid[3][3];
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static uint16_t tempPidF[3];
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static uint8_t tmpRateProfileIndex;
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static uint8_t rateProfileIndex;
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@ -115,6 +116,7 @@ static long cmsx_PidRead(void)
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tempPid[i][0] = pidProfile->pid[i].P;
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tempPid[i][1] = pidProfile->pid[i].I;
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tempPid[i][2] = pidProfile->pid[i].D;
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tempPidF[i] = pidProfile->pid[i].F;
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}
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return 0;
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@ -137,6 +139,7 @@ static long cmsx_PidWriteback(const OSD_Entry *self)
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pidProfile->pid[i].P = tempPid[i][0];
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pidProfile->pid[i].I = tempPid[i][1];
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pidProfile->pid[i].D = tempPid[i][2];
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pidProfile->pid[i].F = tempPidF[i];
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}
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pidInitConfig(currentPidProfile);
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@ -150,14 +153,17 @@ static OSD_Entry cmsx_menuPidEntries[] =
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{ "ROLL P", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_ROLL][0], 0, 200, 1 }, 0 },
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{ "ROLL I", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_ROLL][1], 0, 200, 1 }, 0 },
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{ "ROLL D", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_ROLL][2], 0, 200, 1 }, 0 },
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{ "ROLL F", OME_UINT16, NULL, &(OSD_UINT16_t){ &tempPidF[PID_ROLL], 0, 2000, 1 }, 0 },
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{ "PITCH P", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_PITCH][0], 0, 200, 1 }, 0 },
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{ "PITCH I", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_PITCH][1], 0, 200, 1 }, 0 },
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{ "PITCH D", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_PITCH][2], 0, 200, 1 }, 0 },
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{ "PITCH F", OME_UINT16, NULL, &(OSD_UINT16_t){ &tempPidF[PID_PITCH], 0, 2000, 1 }, 0 },
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{ "YAW P", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_YAW][0], 0, 200, 1 }, 0 },
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{ "YAW I", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_YAW][1], 0, 200, 1 }, 0 },
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{ "YAW D", OME_UINT8, NULL, &(OSD_UINT8_t){ &tempPid[PID_YAW][2], 0, 200, 1 }, 0 },
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{ "YAW F", OME_UINT16, NULL, &(OSD_UINT16_t){ &tempPidF[PID_YAW], 0, 2000, 1 }, 0 },
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{ "BACK", OME_Back, NULL, NULL, 0 },
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{ NULL, OME_END, NULL, NULL, 0 }
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@ -237,8 +243,7 @@ static CMS_Menu cmsx_menuRateProfile = {
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.entries = cmsx_menuRateProfileEntries
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};
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static uint16_t cmsx_dtermSetpointWeight;
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static uint8_t cmsx_setpointRelaxRatio;
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static uint8_t cmsx_feedForwardTransition;
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static uint8_t cmsx_angleStrength;
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static uint8_t cmsx_horizonStrength;
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static uint8_t cmsx_horizonTransition;
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@ -250,8 +255,8 @@ static long cmsx_profileOtherOnEnter(void)
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pidProfileIndexString[1] = '0' + tmpPidProfileIndex;
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const pidProfile_t *pidProfile = pidProfiles(pidProfileIndex);
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cmsx_dtermSetpointWeight = pidProfile->dtermSetpointWeight;
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cmsx_setpointRelaxRatio = pidProfile->setpointRelaxRatio;
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cmsx_feedForwardTransition = pidProfile->feedForwardTransition;
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cmsx_angleStrength = pidProfile->pid[PID_LEVEL].P;
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cmsx_horizonStrength = pidProfile->pid[PID_LEVEL].I;
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@ -268,8 +273,7 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
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UNUSED(self);
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pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
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pidProfile->dtermSetpointWeight = cmsx_dtermSetpointWeight;
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pidProfile->setpointRelaxRatio = cmsx_setpointRelaxRatio;
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pidProfile->feedForwardTransition = cmsx_feedForwardTransition;
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pidInitConfig(currentPidProfile);
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pidProfile->pid[PID_LEVEL].P = cmsx_angleStrength;
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@ -285,8 +289,7 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
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static OSD_Entry cmsx_menuProfileOtherEntries[] = {
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{ "-- OTHER PP --", OME_Label, NULL, pidProfileIndexString, 0 },
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{ "D SETPT WT", OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_dtermSetpointWeight, 0, 2000, 1 }, 0 },
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{ "SETPT TRS", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_setpointRelaxRatio, 0, 100, 1, 10 }, 0 },
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{ "FF TRANS", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_feedForwardTransition, 0, 100, 1, 10 }, 0 },
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{ "ANGLE STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleStrength, 0, 200, 1 } , 0 },
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{ "HORZN STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonStrength, 0, 200, 1 } , 0 },
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{ "HORZN TRS", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonTransition, 0, 200, 1 } , 0 },
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