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Added crash detection and recovery

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This commit is contained in:
Martin Budden 2017-03-23 18:06:03 +00:00
parent d0475a6987
commit 1dc5f88820
4 changed files with 83 additions and 12 deletions
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15
src/main/flight/pid.h
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@ -18,6 +18,7 @@
#pragma once
#include <stdbool.h>
#include "common/time.h"
#include "config/parameter_group.h"
#define MAX_PID_PROCESS_DENOM 16
@ -57,6 +58,12 @@ typedef enum {
PID_STABILISATION_ON
} pidStabilisationState_e;
typedef enum {
PID_CRASH_RECOVERY_OFF = 0,
PID_CRASH_RECOVERY_ON,
PID_CRASH_RECOVERY_BEEP
} pidCrashRecovery_e;
typedef struct pidProfile_s {
uint8_t P8[PID_ITEM_COUNT];
uint8_t I8[PID_ITEM_COUNT];
@ -83,6 +90,12 @@ typedef struct pidProfile_s {
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
uint16_t crash_dthreshold; // dterm crash value
uint16_t crash_gthreshold; // gyro crash value
uint16_t crash_time; // ms
uint8_t crash_recovery_angle; // degrees
uint8_t crash_recovery_rate; // degree/second
pidCrashRecovery_e crash_recovery; // off, on, on and beeps when it is in crash recovery mode
} pidProfile_t;
#if FLASH_SIZE <= 128
@ -99,7 +112,7 @@ typedef struct pidConfig_s {
PG_DECLARE(pidConfig_t, pidConfig);
union rollAndPitchTrims_u;
void pidController(const pidProfile_t *pidProfile, const union rollAndPitchTrims_u *angleTrim);
void pidController(const pidProfile_t *pidProfile, const union rollAndPitchTrims_u *angleTrim, timeUs_t currentTimeUs);
extern float axisPID_P[3], axisPID_I[3], axisPID_D[3];
bool airmodeWasActivated;