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Code Issues Wiki Activity

Merge pull request #917 from MJ666/yaw_jump_updates

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Flight - Yaw jump updates
This commit is contained in:
Dominic Clifton 2015-05-19 21:20:48 +01:00
commit 43a74f0d46
7 changed files with 18 additions and 14 deletions
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1
docs/Cli.md
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@ -246,5 +246,6 @@ Re-apply any new defaults as desired.
| p_vel | | 0 | 200 | 120 | Profile | UINT8 |
| i_vel | | 0 | 200 | 45 | Profile | UINT8 |
| d_vel | | 0 | 200 | 1 | Profile | UINT8 |
| yaw_p_limit | Limiter for yaw P term. This parameter is only affecting PID controller 3-5. To disable set to 500 (actual default). | 100 | 500 | 500 | Profile | UINT16 |
| blackbox_rate_num | | 1 | 32 | 1 | Master | UINT8 |
| blackbox_rate_denom | | 1 | 32 | 1 | Master | UINT8 |

2
src/main/config/config.c
View file

@ -180,7 +180,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->I8[PIDVEL] = 45;
pidProfile->D8[PIDVEL] = 1;
pidProfile->yaw_p_limit = 0;
pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
pidProfile->P_f[ROLL] = 2.5f; // new PID with preliminary defaults test carefully
pidProfile->I_f[ROLL] = 0.6f;

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

@ -565,7 +565,7 @@ void mixTable(void)
{
uint32_t i;
if (motorCount >= 4 && mixerConfig->yaw_jump_prevention_limit < 500) {
if (motorCount >= 4 && mixerConfig->yaw_jump_prevention_limit < YAW_JUMP_PREVENTION_LIMIT_HIGH) {
// prevent "yaw jump" during yaw correction (500 is disabled jump protection)
axisPID[YAW] = constrain(axisPID[YAW], -mixerConfig->yaw_jump_prevention_limit - ABS(rcCommand[YAW]), mixerConfig->yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
}

3
src/main/flight/mixer.h
View file

@ -19,6 +19,9 @@
#define MAX_SUPPORTED_MOTORS 12
#define MAX_SUPPORTED_SERVOS 8
#define YAW_JUMP_PREVENTION_LIMIT_LOW 80
#define YAW_JUMP_PREVENTION_LIMIT_HIGH 500
// Note: this is called MultiType/MULTITYPE_* in baseflight.
typedef enum mixerMode

12
src/main/flight/pid.c
View file

@ -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);
}
}

6
src/main/flight/pid.h
View file

@ -17,6 +17,12 @@
#pragma once
#define GYRO_I_MAX 256 // Gyro I limiter
#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.
#define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter
#define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter
typedef enum {
PIDROLL,

6
src/main/io/serial_cli.c
View file

@ -359,7 +359,7 @@ const clivalue_t valueTable[] = {
{ "vbat_max_cell_voltage", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.vbatmaxcellvoltage, 10, 50 },
{ "vbat_min_cell_voltage", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.vbatmincellvoltage, 10, 50 },
{ "vbat_warning_cell_voltage", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.vbatwarningcellvoltage, 10, 50 },
{ "current_meter_scale", VAR_INT16 | MASTER_VALUE, &masterConfig.batteryConfig.currentMeterScale, -10000, 10000 },
{ "current_meter_scale", VAR_INT16 | MASTER_VALUE, &masterConfig.batteryConfig.currentMeterScale, -10000, 10000 },
{ "current_meter_offset", VAR_UINT16 | MASTER_VALUE, &masterConfig.batteryConfig.currentMeterOffset, 0, 3300 },
{ "multiwii_current_meter_output", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.multiwiiCurrentMeterOutput, 0, 1 },
{ "current_meter_type", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.currentMeterType, 0, CURRENT_SENSOR_MAX },
@ -391,7 +391,7 @@ const clivalue_t valueTable[] = {
{ "pid_at_min_throttle", VAR_UINT8 | MASTER_VALUE, &masterConfig.mixerConfig.pid_at_min_throttle, 0, 1 },
{ "yaw_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_direction, -1, 1 },
{ "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, 80, 500 },
{ "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH },
#ifdef USE_SERVOS
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.tri_unarmed_servo, 0, 1 },
{ "servo_lowpass_freq", VAR_INT16 | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, 10, 400},
@ -476,7 +476,7 @@ const clivalue_t valueTable[] = {
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], 0, 200 },
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], 0, 200 },
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, 0, 500 },
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX },
#ifdef BLACKBOX
{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_num, 1, 32 },