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Angle and Horizon Mode improvements (#12231)

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* Angle and Horizon Update for 4.5

* BugFix FF noise Angle Mode on yaw and in level _race mode

* use time constant in ms for angle feedforward smoothing

* refactor to remove unnecessary definition

---------

Co-authored-by: ChrisRosser <chrisrosser91@gmail.com>
This commit is contained in:
ctzsnooze 2023-03-15 09:46:24 +11:00 • committed by GitHub
parent d6ed53ecdf
commit 241e9a9b94
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GPG key ID: 4AEE18F83AFDEB23
16 changed files with 482 additions and 271 deletions
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28
src/main/flight/pid.h
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@ -146,10 +146,10 @@ typedef struct pidProfile_s {
uint16_t pidSumLimit;
uint16_t pidSumLimitYaw;
uint8_t pidAtMinThrottle; // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
uint8_t levelAngleLimit; // Max angle in degrees in level mode
uint8_t angle_limit; // Max angle in degrees in Angle mode
uint8_t horizon_tilt_effect; // inclination factor for Horizon mode
uint8_t horizon_tilt_expert_mode; // OFF or ON
uint8_t horizon_limit_degrees; // in Horizon mode, zero levelling when the quad's attitude exceeds this angle
uint8_t horizon_ignore_sticks; // 0 = default, meaning both stick and attitude attenuation; 1 = only attitude attenuation
// Betaflight PID controller parameters
uint8_t anti_gravity_gain; // AntiGravity Gain (was itermAcceleratorGain)
@ -234,6 +234,8 @@ typedef struct pidProfile_s {
uint8_t tpa_mode; // Controls which PID terms TPA effects
uint8_t tpa_rate; // Percent reduction in P or D at full throttle
uint16_t tpa_breakpoint; // Breakpoint where TPA is activated
uint8_t angle_feedforward_smoothing_ms; // Smoothing factor for angle feedforward as time constant in milliseconds
uint8_t angle_earth_ref; // Control amount of "co-ordination" from yaw into roll while pitched forward in angle mode
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);
@ -294,12 +296,12 @@ typedef struct pidRuntime_s {
uint8_t antiGravityGain;
float antiGravityPGain;
pidCoefficient_t pidCoefficient[XYZ_AXIS_COUNT];
float levelGain;
float angleGain;
float angleFeedforwardGain;
float horizonGain;
float horizonTransition;
float horizonCutoffDegrees;
float horizonFactorRatio;
uint8_t horizonTiltExpertMode;
float horizonLimitSticks;
float horizonLimitDegrees;
uint8_t horizonIgnoreSticks;
float maxVelocity[XYZ_AXIS_COUNT];
float itermWindupPointInv;
bool inCrashRecoveryMode;
@ -396,10 +398,18 @@ typedef struct pidRuntime_s {
float feedforwardSmoothFactor;
float feedforwardJitterFactor;
float feedforwardBoostFactor;
float angleFeedforward[XYZ_AXIS_COUNT];
float angleTargetPrevious[XYZ_AXIS_COUNT];
float angleTargetDelta[XYZ_AXIS_COUNT];
uint8_t angleDuplicateCount[XYZ_AXIS_COUNT];
#endif
#ifdef USE_ACC
pt3Filter_t attitudeFilter[2]; // Only for ROLL and PITCH
pt3Filter_t angleFeedforwardPt3[XYZ_AXIS_COUNT];
float angleYawSetpoint;
float angleEarthRef;
float angleTarget[2];
#endif
} pidRuntime_t;
@ -446,7 +456,7 @@ void applyItermRelax(const int axis, const float iterm,
void applyAbsoluteControl(const int axis, const float gyroRate, float *currentPidSetpoint, float *itermErrorRate);
void rotateItermAndAxisError();
float pidLevel(int axis, const pidProfile_t *pidProfile,
const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint, float horizonLevelStrength);
const rollAndPitchTrims_t *angleTrim, float rawSetpoint, float horizonLevelStrength, bool newRcFrame);
float calcHorizonLevelStrength(void);
#endif
void dynLpfDTermUpdate(float throttle);