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G-Tune port from Harakiri

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Enabled for NAZE, ALIENWWIIF1 and ALIENWIIF3 targets
Implement G-Tune for all PID controllers
The G-Tune tuning results will be save if G-Tune mode will be disabled
during copter is disarmed.
Update PID controller and G-Tune documentation
This commit is contained in:
Michael Jakob 2015-02-27 07:38:51 +01:00
parent b20dc77a74
commit 43f5792a61
15 changed files with 371 additions and 4 deletions
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69
src/main/flight/pid.c
View file

@ -42,6 +42,7 @@
#include "flight/imu.h"
#include "flight/navigation.h"
#include "flight/autotune.h"
#include "flight/gtune.h"
#include "flight/filter.h"
#include "config/runtime_config.h"
@ -222,6 +223,12 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// -----calculate total PID output
axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -1000, 1000);
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(axis);
}
#endif
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;
axisPID_I[axis] = ITerm;
@ -317,6 +324,12 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
DTerm = (deltaSum * dynD8[axis]) / 32;
axisPID[axis] = PTerm + ITerm - DTerm;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(axis);
}
#endif
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;
axisPID_I[axis] = ITerm;
@ -408,6 +421,12 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
axisPID[axis] = PTerm + ITerm - DTerm;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(axis);
}
#endif
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;
axisPID_I[axis] = ITerm;
@ -437,6 +456,17 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
axisPID[FD_YAW] = PTerm + ITerm;
if (motorCount >= 4) { // prevent "yaw jump" during yaw correction
int16_t limit = ABS(rcCommand[FD_YAW]) + 100;
axisPID[FD_YAW] = (float)constrain((int32_t)axisPID[FD_YAW], -limit, +limit);
}
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(FD_YAW);
}
#endif
#ifdef BLACKBOX
axisPID_P[FD_YAW] = PTerm;
axisPID_I[FD_YAW] = ITerm;
@ -530,6 +560,12 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
DTerm = (deltaSum * dynD8[axis]) / 32;
axisPID[axis] = PTerm + ITerm - DTerm;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(axis);
}
#endif
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;
axisPID_I[axis] = ITerm;
@ -558,6 +594,16 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
axisPID[FD_YAW] = PTerm + ITerm;
if (motorCount >= 4) { // prevent "yaw jump" during yaw correction
int16_t limit = ABS(rcCommand[FD_YAW]) + 100;
axisPID[FD_YAW] = (float)constrain((int32_t)axisPID[FD_YAW], -limit, +limit);
}
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(FD_YAW);
}
#endif
#ifdef BLACKBOX
axisPID_P[FD_YAW] = PTerm;
@ -650,6 +696,12 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
axisPID[axis] = lrintf(PTerm + ITerm - DTerm); // Round up result.
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(axis);
}
#endif
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;
axisPID_I[axis] = ITerm;
@ -697,6 +749,17 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
axisPID[FD_YAW] = PTerm + ITerm;
axisPID[FD_YAW] = lrintf(axisPID[FD_YAW]); // Round up result.
if (motorCount >= 4) { // prevent "yaw jump" during yaw correction
int16_t limit = ABS(rcCommand[FD_YAW]) + 100;
axisPID[FD_YAW] = (float)constrain((int32_t)axisPID[FD_YAW], -limit, +limit);
}
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(FD_YAW);
}
#endif
#ifdef BLACKBOX
axisPID_P[FD_YAW] = PTerm;
axisPID_I[FD_YAW] = ITerm;
@ -823,6 +886,12 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
// -----calculate total PID output
axisPID[axis] = PTerm + ITerm + DTerm;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
calculate_Gtune(axis);
}
#endif
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;
axisPID_I[axis] = ITerm;