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Initial PID controller separation // Betaflight pidc for future development

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This commit is contained in:
borisbstyle 2016-07-17 23:35:56 +02:00
parent 16c9ca75d6
commit 37fd2e5adc
13 changed files with 113 additions and 61 deletions
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22
src/main/config/config.c
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@ -182,12 +182,7 @@ static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
void resetPidProfile(pidProfile_t *pidProfile)
{
#if (defined(STM32F10X))
pidProfile->pidController = PID_CONTROLLER_INTEGER;
#else
pidProfile->pidController = PID_CONTROLLER_FLOAT;
#endif
pidProfile->pidController = PID_CONTROLLER_BETAFLIGHT;
pidProfile->P8[ROLL] = 45;
pidProfile->I8[ROLL] = 40;
@ -224,7 +219,14 @@ void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->yawItermIgnoreRate = 50;
pidProfile->dterm_lpf_hz = 100; // filtering ON by default
pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
pidProfile->dynamic_pid = 1;
pidProfile->vbatPidCompensation = 0;
// Betaflight PID controller parameters
pidProfile->toleranceBand = 15;
pidProfile->toleranceBandReduction = 35;
pidProfile->zeroCrossAllowanceCount = 3;
pidProfile->accelerationLimitPercent = 15;
pidProfile->itermThrottleGain = 0;
#ifdef GTUNE
pidProfile->gtune_lolimP[ROLL] = 10; // [0..200] Lower limit of ROLL P during G tune.
@ -278,7 +280,6 @@ void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
#endif
escAndServoConfig->mincommand = 1000;
escAndServoConfig->servoCenterPulse = 1500;
escAndServoConfig->accelerationLimitPercent = 15;
}
void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
@ -311,7 +312,6 @@ void resetBatteryConfig(batteryConfig_t *batteryConfig)
batteryConfig->vbatmincellvoltage = 33;
batteryConfig->vbatwarningcellvoltage = 35;
batteryConfig->vbathysteresis = 1;
batteryConfig->vbatPidCompensation = 0;
batteryConfig->currentMeterOffset = 0;
batteryConfig->currentMeterScale = 400; // for Allegro ACS758LCB-100U (40mV/A)
batteryConfig->batteryCapacity = 0;
@ -452,15 +452,15 @@ static void resetConf(void)
masterConfig.gyro_lpf = 0; // 256HZ default
#ifdef STM32F10X
masterConfig.gyro_sync_denom = 8;
masterConfig.pid_process_denom = 1;
#else
masterConfig.gyro_sync_denom = 4;
masterConfig.pid_process_denom = 2;
#endif
masterConfig.gyro_soft_lpf_hz = 100;
masterConfig.gyro_soft_notch_hz = 0;
masterConfig.gyro_soft_notch_q = 5;
masterConfig.pid_process_denom = 2;
masterConfig.debug_mode = 0;
resetAccelerometerTrims(&masterConfig.accZero);