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PID3 mw23 implementation

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Finish PID3 implementation
This commit is contained in:
borisbstyle 2016-02-16 11:37:23 +01:00
parent 57a3e59a38
commit 33eef46db3
6 changed files with 185 additions and 10 deletions
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8
src/main/mw.c
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@ -116,7 +116,7 @@ int16_t telemTemperature1; // gyro sensor temperature
static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
extern uint32_t currentTime;
extern uint8_t PIDweight[3];
extern uint8_t dynP8[3], dynI8[3], dynD8[3], PIDweight[3];
extern bool antiWindupProtection;
static filterStatePt1_t filteredCycleTimeState;
@ -256,6 +256,10 @@ void annexCode(void)
rcCommand[axis] = (lookupYawRC[tmp2] + (tmp - tmp2 * 100) * (lookupYawRC[tmp2 + 1] - lookupYawRC[tmp2]) / 100) * -masterConfig.yaw_control_direction;
prop1 = 100 - (uint16_t)currentControlRateProfile->rates[axis] * ABS(tmp) / 500;
}
// FIXME axis indexes into pids. use something like lookupPidIndex(rc_alias_e alias) to reduce coupling.
dynP8[axis] = (uint16_t)currentProfile->pidProfile.P8[axis] * prop1 / 100;
dynI8[axis] = (uint16_t)currentProfile->pidProfile.I8[axis] * prop1 / 100;
dynD8[axis] = (uint16_t)currentProfile->pidProfile.D8[axis] * prop1 / 100;
// non coupled PID reduction scaler used in PID controller 1 and PID controller 2. YAW TPA disabled. 100 means 100% of the pids
if (axis == YAW) {
@ -292,6 +296,7 @@ void annexCode(void)
scaleRcCommandToFpvCamAngle();
}
if (ARMING_FLAG(ARMED)) {
LED0_ON;
} else {
@ -481,6 +486,7 @@ void processRx(void)
}
} else {
pidResetErrorGyro();
pidResetErrorAngle();
}
} else {
antiWindupProtection = false;