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Initial PID controller separation // Betaflight pidc for future development

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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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20
src/main/flight/pid.h
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@ -41,8 +41,8 @@ typedef enum {
} pidIndex_e;
typedef enum {
PID_CONTROLLER_INTEGER = 1, // Integer math to gain some more performance from F1 targets
PID_CONTROLLER_FLOAT,
PID_CONTROLLER_LEGACY = 0, // Legacy PID controller. Old INT / Rewrite with 2.9 status. Fastest performance....least math. Will stay same in the future
PID_CONTROLLER_BETAFLIGHT, // Betaflight PID controller. Old luxfloat -> float evolution. More math added and maintained in the future
PID_COUNT
} pidControllerType_e;
@ -57,10 +57,13 @@ typedef enum {
SUPEREXPO_YAW_ALWAYS
} pidSuperExpoYaw_e;
#define IS_PID_CONTROLLER_FP_BASED(pidController) (pidController == 2)
typedef enum {
NEGATIVE_ERROR = 0,
POSITIVE_ERROR
} pidErrorPolarity_e;
typedef struct pidProfile_s {
uint8_t pidController; // 1 = rewrite from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671, 2 = Luggi09s new baseflight pid
uint8_t pidController; // 1 = rewrite betaflight evolved from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671, 2 = Betaflight PIDc (Evolved Luxfloat)
uint8_t P8[PID_ITEM_COUNT];
uint8_t I8[PID_ITEM_COUNT];
@ -73,7 +76,14 @@ typedef struct pidProfile_s {
uint16_t yawItermIgnoreRate; // Experimental threshold for resetting iterm for yaw on certain rates
uint16_t yaw_p_limit;
uint8_t dterm_average_count; // Configurable delta count for dterm
uint8_t dynamic_pid; // Dynamic PID implementation (currently only P and I)
uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage
// Betaflight PID controller parameters
uint8_t toleranceBand; // Error tolerance area where toleranceBandReduction is applied under certain circumstances
uint8_t toleranceBandReduction; // Lowest possible P and D reduction in percentage
uint8_t zeroCrossAllowanceCount; // Amount of bouncebacks within tolerance band allowed before reduction kicks in
uint16_t accelerationLimitPercent; // Percentage that motor is allowed to increase or decrease in a period of 1ms
uint8_t itermThrottleGain; // Throttle coupling to iterm. Quick throttle changes will bump iterm
#ifdef GTUNE
uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune