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3.0.1 Defaults // Improve setpoint transition

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borisbstyle 2016-10-18 00:10:05 +02:00
parent 4ab5db8e45
commit 48b7b4fc65
2 changed files with 16 additions and 7 deletions
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8
src/main/config/config.c
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@ -205,11 +205,11 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->pidController = PID_CONTROLLER_BETAFLIGHT;
#endif
pidProfile->P8[ROLL] = 45;
pidProfile->P8[ROLL] = 43;
pidProfile->I8[ROLL] = 40;
pidProfile->D8[ROLL] = 20;
pidProfile->P8[PITCH] = 60;
pidProfile->I8[PITCH] = 65;
pidProfile->P8[PITCH] = 58;
pidProfile->I8[PITCH] = 50;
pidProfile->D8[PITCH] = 22;
pidProfile->P8[YAW] = 70;
pidProfile->I8[YAW] = 45;
@ -248,7 +248,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
// Betaflight PID controller parameters
pidProfile->setpointRelaxRatio = 85;
pidProfile->setpointRelaxRatio = 30;
pidProfile->dtermSetpointWeight = 200;
pidProfile->yawRateAccelLimit = 220;
pidProfile->rateAccelLimit = 0;

15
src/main/flight/pid.c
View file

@ -260,10 +260,19 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
//-----calculate D-term (Yaw D not yet supported)
if (axis != YAW) {
if (pidProfile->setpointRelaxRatio < 100)
dynC = c[axis] * powerf(rcInput[axis], 2) * relaxFactor[axis] + c[axis] * (1-relaxFactor[axis]);
else
static float previousSetpoint[3];
dynC = c[axis];
if (pidProfile->setpointRelaxRatio < 100) {
dynC = c[axis];
if (setpointRate[axis] > 0) {
if ((setpointRate[axis] - previousSetpoint[axis]) < previousSetpoint[axis])
dynC = dynC * powerf(rcInput[axis], 2) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
} else if (setpointRate[axis] < 0) {
if ((setpointRate[axis] - previousSetpoint[axis]) > previousSetpoint[axis])
dynC = dynC * powerf(rcInput[axis], 2) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
}
}
previousSetpoint[axis] = setpointRate[axis];
rD = dynC * setpointRate[axis] - PVRate; // cr - y
delta = rD - lastRateError[axis];
lastRateError[axis] = rD;