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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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9
src/main/flight/pid.h
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@ -63,10 +63,17 @@ typedef struct pidProfile_s {
uint8_t H_sensitivity;
uint16_t yaw_p_limit; // set P term limit (fixed value was 300)
uint8_t pid5_oldyw; // Old yaw behavior for PID5
uint8_t dterm_cut_hz; // (default 17Hz, Range 1-50Hz) Used for PT1 element in PID1, PID2 and PID5
uint8_t pterm_cut_hz; // Used for fitlering Pterm noise on noisy frames
uint8_t gyro_cut_hz; // Used for soft gyro filtering
uint8_t pid5_oldyw; // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw
#ifdef GTUNE
uint8_t gtune_lolimP[3]; // [10..200] Lower limit of P during G tune
uint8_t gtune_hilimP[3]; // [0..200] Higher limit of P during G tune. 0 Disables tuning for that axis.
int8_t gtune_pwr; // [0..10] Strength of adjustment
#endif
} pidProfile_t;
#define DEGREES_TO_DECIDEGREES(angle) (angle * 10)