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Code Issues Wiki Activity

ITerm relax feature

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This commit is contained in:
Thorsten Laux 2018-05-24 15:05:03 +02:00
parent 418fd4beaa
commit 32748a328a
3 changed files with 40 additions and 5 deletions
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36
src/main/flight/pid.c
View file

@ -139,7 +139,10 @@ void resetPidProfile(pidProfile_t *pidProfile)
.throttle_boost = 0,
.throttle_boost_cutoff = 15,
.iterm_rotation = false,
.smart_feedforward = false
.smart_feedforward = false,
.iterm_relax = false,
.iterm_relax_cutoff_low = 3,
.iterm_relax_cutoff_high = 15,
);
}
@ -198,6 +201,10 @@ static FAST_RAM_ZERO_INIT filterApplyFnPtr dtermLowpass2ApplyFn;
static FAST_RAM_ZERO_INIT pt1Filter_t dtermLowpass2[2];
static FAST_RAM_ZERO_INIT filterApplyFnPtr ptermYawLowpassApplyFn;
static FAST_RAM_ZERO_INIT pt1Filter_t ptermYawLowpass;
static FAST_RAM_ZERO_INIT pt1Filter_t windupLpf[3][2];
static FAST_RAM_ZERO_INIT bool itermRelax;
static FAST_RAM_ZERO_INIT uint8_t itermRelaxCutoffLow;
static FAST_RAM_ZERO_INIT uint8_t itermRelaxCutoffHigh;
void pidInitFilters(const pidProfile_t *pidProfile)
{
@ -282,6 +289,11 @@ void pidInitFilters(const pidProfile_t *pidProfile)
}
pt1FilterInit(&throttleLpf, pt1FilterGain(pidProfile->throttle_boost_cutoff, dT));
if (itermRelax)
for (int i = 0; i < 3; i++) {
pt1FilterInit(&windupLpf[i][0], pt1FilterGain(itermRelaxCutoffLow, dT));
pt1FilterInit(&windupLpf[i][1], pt1FilterGain(itermRelaxCutoffHigh, dT));
}
}
typedef struct pidCoefficient_s {
@ -345,8 +357,11 @@ void pidInitConfig(const pidProfile_t *pidProfile)
crashLimitYaw = pidProfile->crash_limit_yaw;
itermLimit = pidProfile->itermLimit;
throttleBoost = pidProfile->throttle_boost * 0.1f;
itermRotation = pidProfile->iterm_rotation == 1;
smartFeedforward = pidProfile->smart_feedforward == 1;
itermRotation = pidProfile->iterm_rotation;
smartFeedforward = pidProfile->smart_feedforward;
itermRelax = pidProfile->iterm_relax;
itermRelaxCutoffLow = pidProfile->iterm_relax_cutoff_low;
itermRelaxCutoffHigh = pidProfile->iterm_relax_cutoff_high;
}
void pidInit(const pidProfile_t *pidProfile)
@ -612,8 +627,21 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
}
// -----calculate I component
float itermErrorRate;
if (itermRelax) {
const float gyroTargetHigh = pt1FilterApply(&windupLpf[axis][0], currentPidSetpoint);
const float gyroTargetLow = pt1FilterApply(&windupLpf[axis][1], currentPidSetpoint);
const float gmax = MAX(gyroTargetHigh, gyroTargetLow);
const float gmin = MIN(gyroTargetHigh, gyroTargetLow);
if (gyroRate >= gmin && gyroRate <= gmax)
itermErrorRate = 0.0f;
else
itermErrorRate = (gyroRate > gmax ? gmax : gmin ) - gyroRate;
}
else itermErrorRate = errorRate;
const float ITerm = pidData[axis].I;
const float ITermNew = constrainf(ITerm + pidCoefficient[axis].Ki * errorRate * dynCi, -itermLimit, itermLimit);
const float ITermNew = constrainf(ITerm + pidCoefficient[axis].Ki * itermErrorRate * dynCi, -itermLimit, itermLimit);
const bool outputSaturated = mixerIsOutputSaturated(axis, errorRate);
if (outputSaturated == false || ABS(ITermNew) < ABS(ITerm)) {
// Only increase ITerm if output is not saturated

4
src/main/flight/pid.h
View file

@ -116,6 +116,10 @@ typedef struct pidProfile_s {
uint8_t throttle_boost_cutoff; // Which cutoff frequency to use for throttle boost. higher cutoffs keep the boost on for shorter. Specified in hz.
uint8_t iterm_rotation; // rotates iterm to translate world errors to local coordinate system
uint8_t smart_feedforward; // takes only the larger of P and the D weight feed forward term if they have the same sign.
uint8_t iterm_relax_cutoff_low; // Slowest setpoint response to prevent iterm accumulation
uint8_t iterm_relax_cutoff_high; // Fastest setpoint response to prevent iterm accumulation
uint8_t iterm_relax; // Enable iterm suppression during stick input
} pidProfile_t;
#ifndef USE_OSD_SLAVE

3
src/main/interface/settings.c
View file

@ -757,6 +757,9 @@ const clivalue_t valueTable[] = {
{ "iterm_rotation", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_rotation) },
{ "smart_feedforward", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, smart_feedforward) },
{ "iterm_relax", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_relax) },
{ "iterm_relax_cutoff_low", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 1, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_relax_cutoff_low) },
{ "iterm_relax_cutoff_high", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 1, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_relax_cutoff_high) },
{ "iterm_windup", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 30, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermWindupPointPercent) },
{ "iterm_limit", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermLimit) },
{ "pidsum_limit", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { PIDSUM_LIMIT_MIN, PIDSUM_LIMIT_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pidSumLimit) },