PID3 mw23 implementation

Finish PID3 implementation

src/main/config/config.c

@@ -176,6 +176,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->I8[PIDVEL] = 45;
     pidProfile->D8[PIDVEL] = 1;
 
+    pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
     pidProfile->dterm_lpf_hz = 0;    // filtering ON by default
     pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
     pidProfile->airModeInsaneAcrobilityFactor = 0;
@@ -719,7 +720,6 @@ void activateConfig(void)
 #ifdef TELEMETRY
     telemetryUseConfig(&masterConfig.telemetryConfig);
 #endif
-    currentProfile->pidProfile.pidController = constrain(currentProfile->pidProfile.pidController, 1, 2); // This should prevent UNUSED values. CF 1.11 support
     pidSetController(currentProfile->pidProfile.pidController);
 
 #ifdef GPS

src/main/flight/pid.c

@@ -48,6 +48,7 @@
 
 #include "config/runtime_config.h"
 
+extern uint8_t motorCount;
 extern float dT;
 extern bool motorLimitReached;
 
@@ -60,18 +61,29 @@ int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
 #define DELTA_TOTAL_SAMPLES 3
 
 // PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
-uint8_t PIDweight[3];
+uint8_t dynP8[3], dynI8[3], dynD8[3], PIDweight[3];
 
 static int32_t errorGyroI[3], errorGyroILimit[3];
 static float errorGyroIf[3], errorGyroIfLimit[3];
+static int32_t errorAngleI[2];
+static float errorAngleIf[2];
 
-static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
+static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
         uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig);
 
 typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
         uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig);            // pid controller function prototype
 
-pidControllerFuncPtr pid_controller = pidRewrite; // which pid controller are we using, defaultMultiWii
+pidControllerFuncPtr pid_controller = pidMultiWiiRewrite; // which pid controller are we using, defaultMultiWii
+
+void pidResetErrorAngle(void)
+{
+    errorAngleI[ROLL] = 0;
+    errorAngleI[PITCH] = 0;
+
+    errorAngleIf[ROLL] = 0.0f;
+    errorAngleIf[PITCH] = 0.0f;
+}
 
 void pidResetErrorGyro(void)
 {
@@ -262,7 +274,157 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
     }
 }
 
-static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
+static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
+            rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
+{
+    UNUSED(rxConfig);
+
+    int axis, deltaCount, prop = 0;
+    int32_t rc, error, errorAngle, delta, gyroError;
+    int32_t PTerm, ITerm, PTermACC, ITermACC, DTerm;
+    static int16_t lastErrorForDelta[2];
+    static int32_t previousDelta[3][DELTA_TOTAL_SAMPLES];
+
+    if (!deltaStateIsSet && pidProfile->dterm_lpf_hz) {
+        for (axis = 0; axis < 3; axis++) BiQuadNewLpf(pidProfile->dterm_lpf_hz, &deltaBiQuadState[axis], targetLooptime);
+        deltaStateIsSet = true;
+    }
+
+    if (FLIGHT_MODE(HORIZON_MODE)) {
+        prop = MIN(MAX(ABS(rcCommand[PITCH]), ABS(rcCommand[ROLL])), 512);
+    }
+
+    // PITCH & ROLL
+    for (axis = 0; axis < 2; axis++) {
+
+        rc = rcCommand[axis] << 1;
+
+        gyroError = gyroADC[axis] / 4;
+
+        error = rc - gyroError;
+        errorGyroI[axis]  = constrain(errorGyroI[axis] + error, -16000, +16000);   // WindUp   16 bits is ok here
+
+        if (ABS(gyroADC[axis]) > (640 * 4)) {
+            errorGyroI[axis] = 0;
+        }
+
+        // Anti windup protection
+        if (IS_RC_MODE_ACTIVE(BOXAIRMODE) || IS_RC_MODE_ACTIVE(BOXACROPLUS)) {
+            errorGyroI[axis] = (int32_t) (errorGyroI[axis] * scaleItermToRcInput(axis));
+            if (antiWindupProtection || motorLimitReached) {
+                errorGyroI[axis] = constrain(errorGyroI[axis], -errorGyroILimit[axis], errorGyroILimit[axis]);
+            } else {
+                errorGyroILimit[axis] = ABS(errorGyroI[axis]);
+            }
+        }
+
+        ITerm = (errorGyroI[axis] >> 7) * pidProfile->I8[axis] >> 6;   // 16 bits is ok here 16000/125 = 128 ; 128*250 = 32000
+
+        PTerm = (int32_t)rc * pidProfile->P8[axis] >> 6;
+
+        if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {   // axis relying on ACC
+            // 50 degrees max inclination
+#ifdef GPS
+            errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
+                +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis];
+#else
+            errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
+                +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis];
+#endif
+
+            errorAngleI[axis]  = constrain(errorAngleI[axis] + errorAngle, -10000, +10000);                                                // WindUp     //16 bits is ok here
+
+            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
+
+            int16_t limit = pidProfile->D8[PIDLEVEL] * 5;
+            PTermACC = constrain(PTermACC, -limit, +limit);
+
+            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
+
+            ITerm = ITermACC + ((ITerm - ITermACC) * prop >> 9);
+            PTerm = PTermACC + ((PTerm - PTermACC) * prop >> 9);
+        }
+
+        PTerm -= ((int32_t)gyroError * dynP8[axis]) >> 6;   // 32 bits is needed for calculation
+
+        //-----calculate D-term based on the configured approach (delta from measurement or deltafromError)
+        if (pidProfile->deltaMethod == DELTA_FROM_ERROR) {
+            delta = error - lastErrorForDelta[axis];
+            lastErrorForDelta[axis] = error;
+        } else {                                       /* Delta from measurement */
+            delta = -(gyroError - lastErrorForDelta[axis]);
+            lastErrorForDelta[axis] = gyroError;
+        }
+
+        if (deltaStateIsSet) {
+            DTerm = lrintf(applyBiQuadFilter((float) delta, &deltaBiQuadState[axis])) * 3;  // Keep same scaling as unfiltered delta
+        } else {
+            // Apply moving average
+            DTerm = 0;
+            for (deltaCount = DELTA_TOTAL_SAMPLES -1; deltaCount > 0; deltaCount--) previousDelta[axis][deltaCount] = previousDelta[axis][deltaCount-1];
+            previousDelta[axis][0] = delta;
+            for (deltaCount = 0; deltaCount < DELTA_TOTAL_SAMPLES; deltaCount++) DTerm += previousDelta[axis][deltaCount];
+            delta = DTerm;
+        }
+
+        DTerm = ((int32_t)DTerm * dynD8[axis]) >> 5;   // 32 bits is needed for calculation
+
+        axisPID[axis] = PTerm + ITerm + DTerm;
+
+        if (IS_RC_MODE_ACTIVE(BOXACROPLUS)) {
+            acroPlusApply(&acroPlusState[axis], axis, pidProfile);
+            axisPID[axis] = lrintf(acroPlusState[axis].factor + acroPlusState[axis].wowFactor * axisPID[axis]);
+        }
+
+#ifdef GTUNE
+        if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
+            calculate_Gtune(axis);
+        }
+#endif
+
+#ifdef BLACKBOX
+        axisPID_P[axis] = PTerm;
+        axisPID_I[axis] = ITerm;
+        axisPID_D[axis] = DTerm;
+#endif
+    }
+
+    //YAW
+    rc = (int32_t)rcCommand[FD_YAW] * (2 * controlRateConfig->rates[FD_YAW] + 30)  >> 5;
+#ifdef ALIENWII32
+    error = rc - gyroADC[FD_YAW];
+#else
+    error = rc - (gyroADC[FD_YAW] / 4);
+#endif
+    errorGyroI[FD_YAW]  += (int32_t)error * pidProfile->I8[FD_YAW];
+    errorGyroI[FD_YAW]  = constrain(errorGyroI[FD_YAW], 2 - ((int32_t)1 << 28), -2 + ((int32_t)1 << 28));
+    if (ABS(rc) > 50) errorGyroI[FD_YAW] = 0;
+
+    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 >= 4 && pidProfile->yaw_p_limit < YAW_P_LIMIT_MAX) {
+        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);
+
+    axisPID[FD_YAW] =  PTerm + ITerm;
+
+#ifdef GTUNE
+    if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
+        calculate_Gtune(FD_YAW);
+    }
+#endif
+
+#ifdef BLACKBOX
+    axisPID_P[FD_YAW] = PTerm;
+    axisPID_I[FD_YAW] = ITerm;
+    axisPID_D[FD_YAW] = 0;
+#endif
+}
+
+static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
         rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
 {
     UNUSED(rxConfig);
@@ -411,10 +573,13 @@ void pidSetController(pidControllerType_e type)
     switch (type) {
         default:
         case PID_CONTROLLER_MWREWRITE:
-            pid_controller = pidRewrite;
+            pid_controller = pidMultiWiiRewrite;
             break;
         case PID_CONTROLLER_LUX_FLOAT:
             pid_controller = pidLuxFloat;
+            break;
+        case PID_CONTROLLER_MW23:
+            pid_controller = pidMultiWii23;
     }
 }
 

src/main/flight/pid.h

@@ -37,7 +37,8 @@ typedef enum {
 } pidIndex_e;
 
 typedef enum {
-    PID_CONTROLLER_MWREWRITE = 1,
+    PID_CONTROLLER_MW23,
+    PID_CONTROLLER_MWREWRITE,
     PID_CONTROLLER_LUX_FLOAT,
     PID_COUNT
 } pidControllerType_e;
@@ -66,6 +67,7 @@ typedef struct pidProfile_s {
     uint16_t airModeInsaneAcrobilityFactor; // Air mode acrobility factor
     float dterm_lpf_hz;                     // Delta Filter in hz
     uint8_t deltaMethod;                  // Alternative delta Calculation
+    uint16_t yaw_p_limit;
 
 #ifdef GTUNE
     uint8_t  gtune_lolimP[3];               // [0..200] Lower limit of P during G tune
@@ -86,5 +88,6 @@ extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
 bool antiWindupProtection;
 
 void pidSetController(pidControllerType_e type);
+void pidResetErrorAngle(void);
 void pidResetErrorGyro(void);
 

src/main/io/serial_cli.c

@@ -350,7 +350,7 @@ static const char * const lookupTableBlackboxDevice[] = {
 
 
 static const char * const lookupTablePidController[] = {
-    "UNUSED", "MWREWRITE", "LUX"
+    "MW23", "MWREWRITE", "LUX"
 };
 
 static const char * const lookupTableSerialRX[] = {
@@ -626,6 +626,7 @@ const clivalue_t valueTable[] = {
     { "yaw_motor_direction",        VAR_INT8   | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, .config.minmax = { -1,  1 } },
     { "airmode_saturation_limit",   VAR_UINT8  | MASTER_VALUE, &masterConfig.mixerConfig.airmode_saturation_limit, .config.minmax = { 0,  100 } },
     { "yaw_jump_prevention_limit",  VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, .config.minmax = { YAW_JUMP_PREVENTION_LIMIT_LOW,  YAW_JUMP_PREVENTION_LIMIT_HIGH } },
+    { "yaw_p_limit",                VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
 #ifdef USE_SERVOS
     { "tri_unarmed_servo",          VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
     { "servo_lowpass_freq",         VAR_INT16  | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, .config.minmax = { 10,  400} },

src/main/io/serial_msp.c

@@ -1283,7 +1283,7 @@ static bool processInCommand(void)
         setGyroSamplingSpeed(read16());
         break;
     case MSP_SET_PID_CONTROLLER:
-        currentProfile->pidProfile.pidController = constrain(read8(), 1, 2);
+        currentProfile->pidProfile.pidController = read8();
         pidSetController(currentProfile->pidProfile.pidController);
         break;
     case MSP_SET_PID:

src/main/mw.c

@@ -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;