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Code Issues Wiki Activity

Merge pull request #869 from SteveAmor/remove_tricopter_yaw_gyro_smoothing

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Remove tricopter yaw gyro smoothing from imuUpdate
This commit is contained in:
Dominic Clifton 2015-05-29 15:39:02 +01:00
commit 41d737e29a
17 changed files with 85 additions and 98 deletions
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16
docs/development/PID Internals.md
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@ -1,8 +1,8 @@
### IO variables
`gyroData/8192*2000 = deg/s`
`gyroADC/8192*2000 = deg/s`
`gyroData/4 ~ deg/s`
`gyroADC/4 ~ deg/s`
`rcCommand` - `<-500 - 500>` nominal, but is scaled with `rcRate/100`, max +-1250
@ -23,7 +23,7 @@ Iacc = intergrate(error, limit +-10000) * I8[PIDLEVEL] / 4096
#### Gyro term
```
Pgyro = rcCommand[axis];
error = rcCommand[axis] * 10 * 8 / pidProfile->P8[axis] - gyroData[axis] / 4; (conversion so that error is in deg/s ?)
error = rcCommand[axis] * 10 * 8 / pidProfile->P8[axis] - gyroADC[axis] / 4; (conversion so that error is in deg/s ?)
Igyro = integrate(error, limit +-16000) / 10 / 8 * I8[axis] / 100 (conversion back to mixer units ?)
```
@ -52,12 +52,12 @@ reset I term if
#### Gyro stabilization
```
P -= gyroData[axis] / 4 * dynP8 / 10 / 8
D = -mean(diff(gyroData[axis] / 4), over 3 samples) * 3 * dynD8 / 32
P -= gyroADC[axis] / 4 * dynP8 / 10 / 8
D = -mean(diff(gyroADC[axis] / 4), over 3 samples) * 3 * dynD8 / 32
[equivalent to :]
D = - (gyroData[axis]/4 - (<3 loops old>gyroData[axis]/4)) * dynD8 / 32
D = - (gyroADC[axis]/4 - (<3 loops old>gyroADC[axis]/4)) * dynD8 / 32
```
This can be seen as sum of
- PI controller (handles rcCommand, HORIZON/ANGLE); `Igyro` is only output based on gyroData
- PD controller(parameters dynP8/dynD8) with zero setpoint acting on gyroData
- PI controller (handles rcCommand, HORIZON/ANGLE); `Igyro` is only output based on gyroADC
- PD controller(parameters dynP8/dynD8) with zero setpoint acting on gyroADC