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PID3 mw23 implementation
Finish PID3 implementation
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borisbstyle
parent
57a3e59a38
commit
33eef46db3
6 changed files with 185 additions and 10 deletions
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@ -48,6 +48,7 @@
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#include "config/runtime_config.h"
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extern uint8_t motorCount;
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extern float dT;
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extern bool motorLimitReached;
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@ -60,18 +61,29 @@ int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
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#define DELTA_TOTAL_SAMPLES 3
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// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
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uint8_t PIDweight[3];
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uint8_t dynP8[3], dynI8[3], dynD8[3], PIDweight[3];
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static int32_t errorGyroI[3], errorGyroILimit[3];
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static float errorGyroIf[3], errorGyroIfLimit[3];
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static int32_t errorAngleI[2];
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static float errorAngleIf[2];
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static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
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static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
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uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig);
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typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
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uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); // pid controller function prototype
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pidControllerFuncPtr pid_controller = pidRewrite; // which pid controller are we using, defaultMultiWii
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pidControllerFuncPtr pid_controller = pidMultiWiiRewrite; // which pid controller are we using, defaultMultiWii
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void pidResetErrorAngle(void)
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{
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errorAngleI[ROLL] = 0;
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errorAngleI[PITCH] = 0;
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errorAngleIf[ROLL] = 0.0f;
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errorAngleIf[PITCH] = 0.0f;
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}
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void pidResetErrorGyro(void)
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{
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@ -262,7 +274,157 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
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}
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}
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static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
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static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
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rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
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{
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UNUSED(rxConfig);
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int axis, deltaCount, prop = 0;
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int32_t rc, error, errorAngle, delta, gyroError;
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int32_t PTerm, ITerm, PTermACC, ITermACC, DTerm;
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static int16_t lastErrorForDelta[2];
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static int32_t previousDelta[3][DELTA_TOTAL_SAMPLES];
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if (!deltaStateIsSet && pidProfile->dterm_lpf_hz) {
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for (axis = 0; axis < 3; axis++) BiQuadNewLpf(pidProfile->dterm_lpf_hz, &deltaBiQuadState[axis], targetLooptime);
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deltaStateIsSet = true;
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}
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if (FLIGHT_MODE(HORIZON_MODE)) {
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prop = MIN(MAX(ABS(rcCommand[PITCH]), ABS(rcCommand[ROLL])), 512);
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}
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// PITCH & ROLL
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for (axis = 0; axis < 2; axis++) {
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rc = rcCommand[axis] << 1;
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gyroError = gyroADC[axis] / 4;
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error = rc - gyroError;
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errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp 16 bits is ok here
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if (ABS(gyroADC[axis]) > (640 * 4)) {
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errorGyroI[axis] = 0;
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}
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// Anti windup protection
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if (IS_RC_MODE_ACTIVE(BOXAIRMODE) || IS_RC_MODE_ACTIVE(BOXACROPLUS)) {
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errorGyroI[axis] = (int32_t) (errorGyroI[axis] * scaleItermToRcInput(axis));
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if (antiWindupProtection || motorLimitReached) {
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errorGyroI[axis] = constrain(errorGyroI[axis], -errorGyroILimit[axis], errorGyroILimit[axis]);
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} else {
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errorGyroILimit[axis] = ABS(errorGyroI[axis]);
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}
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}
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ITerm = (errorGyroI[axis] >> 7) * pidProfile->I8[axis] >> 6; // 16 bits is ok here 16000/125 = 128 ; 128*250 = 32000
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PTerm = (int32_t)rc * pidProfile->P8[axis] >> 6;
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if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) { // axis relying on ACC
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// 50 degrees max inclination
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#ifdef GPS
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errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis];
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#else
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errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis];
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#endif
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errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp //16 bits is ok here
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PTermACC = ((int32_t)errorAngle * pidProfile->P8[PIDLEVEL]) >> 7; // 32 bits is needed for calculation: errorAngle*P8 could exceed 32768 16 bits is ok for result
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int16_t limit = pidProfile->D8[PIDLEVEL] * 5;
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PTermACC = constrain(PTermACC, -limit, +limit);
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ITermACC = ((int32_t)errorAngleI[axis] * pidProfile->I8[PIDLEVEL]) >> 12; // 32 bits is needed for calculation:10000*I8 could exceed 32768 16 bits is ok for result
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ITerm = ITermACC + ((ITerm - ITermACC) * prop >> 9);
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PTerm = PTermACC + ((PTerm - PTermACC) * prop >> 9);
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}
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PTerm -= ((int32_t)gyroError * dynP8[axis]) >> 6; // 32 bits is needed for calculation
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//-----calculate D-term based on the configured approach (delta from measurement or deltafromError)
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if (pidProfile->deltaMethod == DELTA_FROM_ERROR) {
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delta = error - lastErrorForDelta[axis];
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lastErrorForDelta[axis] = error;
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} else { /* Delta from measurement */
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delta = -(gyroError - lastErrorForDelta[axis]);
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lastErrorForDelta[axis] = gyroError;
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}
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if (deltaStateIsSet) {
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DTerm = lrintf(applyBiQuadFilter((float) delta, &deltaBiQuadState[axis])) * 3; // Keep same scaling as unfiltered delta
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} else {
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// Apply moving average
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DTerm = 0;
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for (deltaCount = DELTA_TOTAL_SAMPLES -1; deltaCount > 0; deltaCount--) previousDelta[axis][deltaCount] = previousDelta[axis][deltaCount-1];
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previousDelta[axis][0] = delta;
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for (deltaCount = 0; deltaCount < DELTA_TOTAL_SAMPLES; deltaCount++) DTerm += previousDelta[axis][deltaCount];
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delta = DTerm;
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}
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DTerm = ((int32_t)DTerm * dynD8[axis]) >> 5; // 32 bits is needed for calculation
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axisPID[axis] = PTerm + ITerm + DTerm;
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if (IS_RC_MODE_ACTIVE(BOXACROPLUS)) {
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acroPlusApply(&acroPlusState[axis], axis, pidProfile);
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axisPID[axis] = lrintf(acroPlusState[axis].factor + acroPlusState[axis].wowFactor * axisPID[axis]);
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}
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#ifdef GTUNE
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if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
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calculate_Gtune(axis);
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}
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#endif
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#ifdef BLACKBOX
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axisPID_P[axis] = PTerm;
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axisPID_I[axis] = ITerm;
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axisPID_D[axis] = DTerm;
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#endif
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}
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//YAW
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rc = (int32_t)rcCommand[FD_YAW] * (2 * controlRateConfig->rates[FD_YAW] + 30) >> 5;
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#ifdef ALIENWII32
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error = rc - gyroADC[FD_YAW];
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#else
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error = rc - (gyroADC[FD_YAW] / 4);
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#endif
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errorGyroI[FD_YAW] += (int32_t)error * pidProfile->I8[FD_YAW];
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errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW], 2 - ((int32_t)1 << 28), -2 + ((int32_t)1 << 28));
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if (ABS(rc) > 50) errorGyroI[FD_YAW] = 0;
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PTerm = (int32_t)error * pidProfile->P8[FD_YAW] >> 6; // TODO: Bitwise shift on a signed integer is not recommended
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// Constrain YAW by D value if not servo driven in that case servolimits apply
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if(motorCount >= 4 && pidProfile->yaw_p_limit < YAW_P_LIMIT_MAX) {
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PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
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}
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ITerm = constrain((int16_t)(errorGyroI[FD_YAW] >> 13), -GYRO_I_MAX, +GYRO_I_MAX);
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axisPID[FD_YAW] = PTerm + ITerm;
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#ifdef GTUNE
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if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
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calculate_Gtune(FD_YAW);
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}
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#endif
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#ifdef BLACKBOX
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axisPID_P[FD_YAW] = PTerm;
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axisPID_I[FD_YAW] = ITerm;
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axisPID_D[FD_YAW] = 0;
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#endif
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}
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static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
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rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
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{
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UNUSED(rxConfig);
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@ -411,10 +573,13 @@ void pidSetController(pidControllerType_e type)
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switch (type) {
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default:
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case PID_CONTROLLER_MWREWRITE:
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pid_controller = pidRewrite;
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pid_controller = pidMultiWiiRewrite;
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break;
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case PID_CONTROLLER_LUX_FLOAT:
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pid_controller = pidLuxFloat;
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break;
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case PID_CONTROLLER_MW23:
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pid_controller = pidMultiWii23;
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}
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}
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