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Use different scale for inflight adjustments to PIDs of FP based PID

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controllers.
This commit is contained in:
Dominic Clifton 2015-01-30 21:46:23 +01:00
parent ea386e6da2
commit 2ac7282314
3 changed files with 40 additions and 46 deletions
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38
src/main/io/rc_controls.c
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@ -32,10 +32,12 @@
#include "drivers/system.h"
#include "flight/flight.h"
#include "flight/navigation.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
#include "sensors/sensors.h"
#include "sensors/gyro.h"
@ -395,10 +397,10 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
break;
case ADJUSTMENT_PITCH_ROLL_P:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->P_f[PIDPITCH] + delta;
pidProfile->P_f[PIDPITCH] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = (int)pidProfile->P_f[PIDROLL] + delta;
pidProfile->P_f[PIDROLL] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = pidProfile->P_f[PIDPITCH] + (float)(delta / 10.0f);
pidProfile->P_f[PIDPITCH] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = pidProfile->P_f[PIDROLL] + (float)(delta / 10.0f);
pidProfile->P_f[PIDROLL] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->P8[PIDPITCH] + delta;
pidProfile->P8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
@ -408,10 +410,10 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
break;
case ADJUSTMENT_PITCH_ROLL_I:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->I_f[PIDPITCH] + delta;
pidProfile->I_f[PIDPITCH] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = (int)pidProfile->I_f[PIDROLL] + delta;
pidProfile->I_f[PIDROLL] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = pidProfile->I_f[PIDPITCH] + (float)(delta / 10.0f);
pidProfile->I_f[PIDPITCH] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = pidProfile->I_f[PIDROLL] + (float)(delta / 10.0f);
pidProfile->I_f[PIDROLL] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->I8[PIDPITCH] + delta;
pidProfile->I8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
@ -421,10 +423,10 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
break;
case ADJUSTMENT_PITCH_ROLL_D:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->D_f[PIDPITCH] + delta;
pidProfile->D_f[PIDPITCH] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = (int)pidProfile->D_f[PIDROLL] + delta;
pidProfile->D_f[PIDROLL] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = pidProfile->D_f[PIDPITCH] + (float)(delta / 10.0f);
pidProfile->D_f[PIDPITCH] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = pidProfile->D_f[PIDROLL] + (float)(delta / 10.0f);
pidProfile->D_f[PIDROLL] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->D8[PIDPITCH] + delta;
pidProfile->D8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
@ -434,8 +436,8 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
break;
case ADJUSTMENT_YAW_P:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->P_f[PIDYAW] + delta;
pidProfile->P_f[PIDYAW] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = pidProfile->P_f[PIDYAW] + (float)(delta / 10.0f);
pidProfile->P_f[PIDYAW] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->P8[PIDYAW] + delta;
pidProfile->P8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
@ -443,8 +445,8 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
break;
case ADJUSTMENT_YAW_I:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->I_f[PIDYAW] + delta;
pidProfile->I_f[PIDYAW] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = pidProfile->I_f[PIDYAW] + (float)(delta / 10.0f);
pidProfile->I_f[PIDYAW] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->I8[PIDYAW] + delta;
pidProfile->I8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
@ -452,8 +454,8 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
break;
case ADJUSTMENT_YAW_D:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->D_f[PIDYAW] + delta;
pidProfile->D_f[PIDYAW] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = pidProfile->D_f[PIDYAW] + (float)(delta / 10.0f);
pidProfile->D_f[PIDYAW] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->D8[PIDYAW] + delta;
pidProfile->D8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c