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Added battery cell count based automatic PID profile switching.

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This commit is contained in:
mikeller 2019-02-03 14:04:35 +13:00 • committed by Michael Keller
parent 90e50c9f48
commit 299d96fdc7
23 changed files with 124 additions and 73 deletions
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24
src/main/flight/pid.c
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@ -29,12 +29,10 @@
#include "build/debug.h"
#include "common/axis.h"
#include "common/maths.h"
#include "common/filter.h"
#include "common/maths.h"
#include "config/config_reset.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "drivers/sound_beeper.h"
#include "drivers/time.h"
@ -42,22 +40,25 @@
#include "fc/controlrate_profile.h"
#include "fc/core.h"
#include "fc/rc.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/gps_rescue.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "io/gps.h"
#include "sensors/gyro.h"
#include "sensors/acceleration.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "sensors/acceleration.h"
#include "sensors/battery.h"
#include "sensors/gyro.h"
#include "sensors/rpm_filter.h"
#include "pid.h"
const char pidNames[] =
"ROLL;"
"PITCH;"
@ -119,7 +120,7 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
#define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 8);
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 9);
void resetPidProfile(pidProfile_t *pidProfile)
{
@ -192,6 +193,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.dterm_cut_range_hz = 40,
.dterm_cut_lowpass_hz = 7,
.motor_output_limit = 100,
.auto_profile_cell_count = AUTO_PROFILE_CELL_COUNT_STAY,
);
#ifdef USE_DYN_LPF
pidProfile->dterm_lowpass_hz = 150;
@ -207,7 +209,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
void pgResetFn_pidProfiles(pidProfile_t *pidProfiles)
{
for (int i = 0; i < MAX_PROFILE_COUNT; i++) {
for (int i = 0; i < PID_PROFILE_COUNT; i++) {
resetPidProfile(&pidProfiles[i]);
}
}
@ -716,7 +718,7 @@ float pidApplyThrustLinearization(float motorOutput)
void pidCopyProfile(uint8_t dstPidProfileIndex, uint8_t srcPidProfileIndex)
{
if ((dstPidProfileIndex < MAX_PROFILE_COUNT-1 && srcPidProfileIndex < MAX_PROFILE_COUNT-1)
if ((dstPidProfileIndex < PID_PROFILE_COUNT-1 && srcPidProfileIndex < PID_PROFILE_COUNT-1)
&& dstPidProfileIndex != srcPidProfileIndex
) {
memcpy(pidProfilesMutable(dstPidProfileIndex), pidProfilesMutable(srcPidProfileIndex), sizeof(pidProfile_t));