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Merge pull request #3832 from martinbudden/bf_pidsum_limits

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PID sum limits applied before scaling
This commit is contained in:
Michael Keller 2017-10-12 00:01:58 +13:00 • committed by GitHub
commit 39c02c083e
3 changed files with 4 additions and 16 deletions
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17
src/main/flight/mixer.c
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@ -117,9 +117,6 @@ float motor_disarmed[MAX_SUPPORTED_MOTORS];
mixerMode_e currentMixerMode;
static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
float pidSumLimit;
float pidSumLimitYaw;
static const motorMixer_t mixerQuadX[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
@ -409,12 +406,6 @@ void mixerInit(mixerMode_e mixerMode)
initEscEndpoints();
}
void pidInitMixer(const struct pidProfile_s *pidProfile)
{
pidSumLimit = CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimit);
pidSumLimitYaw = CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimitYaw);
}
#ifndef USE_QUAD_MIXER_ONLY
void mixerConfigureOutput(void)
@ -680,17 +671,17 @@ void mixTable(uint8_t vbatPidCompensation)
// Calculate and Limit the PIDsum
float scaledAxisPidRoll =
constrainf((axisPID_P[FD_ROLL] + axisPID_I[FD_ROLL] + axisPID_D[FD_ROLL]) / PID_MIXER_SCALING, -pidSumLimit, pidSumLimit);
constrainf(axisPID_P[FD_ROLL] + axisPID_I[FD_ROLL] + axisPID_D[FD_ROLL], -currentPidProfile->pidSumLimit, currentPidProfile->pidSumLimit) / PID_MIXER_SCALING;
float scaledAxisPidPitch =
constrainf((axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] + axisPID_D[FD_PITCH]) / PID_MIXER_SCALING, -pidSumLimit, pidSumLimit);
constrainf(axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] + axisPID_D[FD_PITCH], -currentPidProfile->pidSumLimit, currentPidProfile->pidSumLimit) / PID_MIXER_SCALING;
float scaledAxisPidYaw =
-constrainf((axisPID_P[FD_YAW] + axisPID_I[FD_YAW]) / PID_MIXER_SCALING, -pidSumLimitYaw, pidSumLimitYaw);
constrainf(axisPID_P[FD_YAW] + axisPID_I[FD_YAW], -currentPidProfile->pidSumLimitYaw, currentPidProfile->pidSumLimitYaw) / PID_MIXER_SCALING;
if (isMotorsReversed()) {
scaledAxisPidRoll = -scaledAxisPidRoll;
scaledAxisPidPitch = -scaledAxisPidPitch;
scaledAxisPidYaw = -scaledAxisPidYaw;
}
if (mixerConfig()->yaw_motors_reversed) {
if (!mixerConfig()->yaw_motors_reversed) {
scaledAxisPidYaw = -scaledAxisPidYaw;
}

2
src/main/flight/mixer.h
View file

@ -115,8 +115,6 @@ bool mixerIsOutputSaturated(int axis, float errorRate);
void mixerLoadMix(int index, motorMixer_t *customMixers);
void mixerInit(mixerMode_e mixerMode);
struct pidProfile_s;
void pidInitMixer(const struct pidProfile_s *pidProfile);
void mixerConfigureOutput(void);

1
src/main/flight/pid.c
View file

@ -297,7 +297,6 @@ void pidInit(const pidProfile_t *pidProfile)
pidSetTargetLooptime(gyro.targetLooptime * pidConfig()->pid_process_denom); // Initialize pid looptime
pidInitFilters(pidProfile);
pidInitConfig(pidProfile);
pidInitMixer(pidProfile);
}