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The yaw_p_limit minimum is now set to 100 to prevent misconfigurations.

Browse source 
Maximum value of 500 is now removing the limit (same as for
yaw_jump_prevention_limit)
Moving defines for PID controllers to headerfiles.
Some general code cleanup.
Documentation update
This commit is contained in:
Michael Jakob 2015-05-19 17:42:03 +02:00
parent 3037a91b06
commit 42218f1ea5
7 changed files with 18 additions and 14 deletions
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12
src/main/flight/pid.c
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@ -298,8 +298,6 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
}
}
#define GYRO_I_MAX 256
static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
{
@ -394,7 +392,7 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
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) {
if(motorCount >= 4 && pidProfile->yaw_p_limit < YAW_P_LIMIT_MAX) {
PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
}
@ -504,7 +502,7 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
PTerm = (int32_t)error * pidProfile->P8[FD_YAW] >> 6;
// Constrain YAW by D value if not servo driven in that case servolimits apply
if(motorCount >= 4 && pidProfile->yaw_p_limit) {
if(motorCount >= 4 && pidProfile->yaw_p_limit < YAW_P_LIMIT_MAX) {
PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
}
@ -520,10 +518,6 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
#endif
}
#define RCconstPI 0.159154943092f // 0.5f / M_PI;
#define MAIN_CUT_HZ 12.0f // (default 12Hz, Range 1-50Hz)
#define OLD_YAW 0 // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw.
static void pidHarakiri(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
{
@ -633,7 +627,7 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
ITerm = constrain(errorGyroI[FD_YAW] >> 13, -GYRO_I_MAX, +GYRO_I_MAX);
PTerm = ((int32_t)error * (int32_t)pidProfile->P8[FD_YAW]) >> 6;
if(motorCount >= 4 && pidProfile->yaw_p_limit) { // Constrain FD_YAW by D value if not servo driven in that case servolimits apply
if(motorCount >= 4 && pidProfile->yaw_p_limit < YAW_P_LIMIT_MAX) { // Constrain FD_YAW by D value if not servo driven in that case servolimits apply
PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
}
}