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This fix is for avoiding yaw overshoot and bounce back for some

Browse source 
configurations
The hardcoded limit in the mixer and PID controllers 3-5 would be
removed
by default and will be configurable by CLI variables:

yaw_jump_prevention_limit, global setting (original fixed value was 100)
yaw_p_limit, per profile setting (fixed value was 300)
This commit is contained in:
Michael Jakob 2015-04-23 00:48:37 +02:00
parent bad0b1b04d
commit 2fd79a7aa2
6 changed files with 16 additions and 13 deletions
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17
src/main/flight/pid.c
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@ -297,7 +297,6 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
}
}
#define GYRO_P_MAX 300
#define GYRO_I_MAX 256
static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
@ -394,9 +393,8 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
PTerm = (int32_t)error * pidProfile->P8[FD_YAW] >> 6; // TODO: Bitwise shift on a signed integer is not recommended
// Constrain YAW by D value if not servo driven in that case servolimits apply
if(motorCount > 3) {
int16_t limit = GYRO_P_MAX - pidProfile->D8[FD_YAW];
PTerm = constrain(PTerm, -limit, +limit);
if(motorCount >= 4 && pidProfile->yaw_p_limit) {
PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
}
ITerm = constrain((int16_t)(errorGyroI[FD_YAW] >> 13), -GYRO_I_MAX, +GYRO_I_MAX);
@ -505,9 +503,8 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
PTerm = (int32_t)error * pidProfile->P8[FD_YAW] >> 6;
// Constrain YAW by D value if not servo driven in that case servolimits apply
if(motorCount > 3) {
int16_t limit = GYRO_P_MAX - pidProfile->D8[FD_YAW];
PTerm = constrain(PTerm, -limit, +limit);
if(motorCount >= 4 && pidProfile->yaw_p_limit) {
PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
}
ITerm = constrain((int16_t)(errorGyroI[FD_YAW] >> 13), -GYRO_I_MAX, +GYRO_I_MAX);
@ -635,10 +632,8 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
ITerm = constrain(errorGyroI[FD_YAW] >> 13, -GYRO_I_MAX, +GYRO_I_MAX);
PTerm = ((int32_t)error * (int32_t)pidProfile->P8[FD_YAW]) >> 6;
if (motorCount >= 4) { // Constrain FD_YAW by D value if not servo driven in that case servolimits apply
int32_t limit = 300;
if (pidProfile->D8[FD_YAW]) limit -= (int32_t)pidProfile->D8[FD_YAW];
PTerm = constrain(PTerm, -limit, limit);
if(motorCount >= 4 && pidProfile->yaw_p_limit) { // Constrain FD_YAW by D value if not servo driven in that case servolimits apply
PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
}
}
axisPID[FD_YAW] = PTerm + ITerm;