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Allow autotune to be compiled in/out.

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This commit is contained in:
Dominic Clifton 2014-08-01 01:14:23 +01:00
parent a6f4633272
commit 326a10b1dc
10 changed files with 30 additions and 2 deletions
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10
src/main/flight/flight.c
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@ -76,10 +76,12 @@ void resetErrorGyro(void)
const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
#ifdef AUTOTUNE
bool shouldAutotune(void)
{
return f.ARMED && f.AUTOTUNE_MODE;
}
#endif
static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim)
@ -109,9 +111,12 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
errorAngle = (constrain(rcCommand[axis], -((int) max_angle_inclination),
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
#endif
#ifdef AUTOTUNE
if (shouldAutotune()) {
errorAngle = autotune(rcAliasToAngleIndexMap[axis], &inclination, errorAngle);
}
#endif
if (f.ANGLE_MODE) {
// it's the ANGLE mode - control is angle based, so control loop is needed
@ -186,9 +191,11 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
#endif
#ifdef AUTOTUNE
if (shouldAutotune()) {
errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
}
#endif
PTermACC = errorAngle * pidProfile->P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
PTermACC = constrain(PTermACC, -pidProfile->D8[PIDLEVEL] * 5, +pidProfile->D8[PIDLEVEL] * 5);
@ -259,9 +266,12 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]; // 16 bits is ok here
#endif
#ifdef AUTOTUNE
if (shouldAutotune()) {
errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
}
#endif
if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
AngleRateTmp = ((int32_t)(controlRateConfig->rollPitchRate + 27) * rcCommand[axis]) >> 4;