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Static FIR filter

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borisbstyle 2015-09-19 00:43:50 +02:00
parent 7a2762dbf6
commit 49bc46bc37
4 changed files with 1 additions and 86 deletions
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60
src/main/flight/pid.c
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@ -185,16 +185,6 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// -----calculate P component
PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100;
// Pterm low pass
if (pidProfile->pterm_cut_hz) {
if (axis == YAW) {
PTerm = filterApplyPt1(PTerm, &PTermState[axis], constrain(pidProfile->pterm_cut_hz / YAW_PTERM_CUT_RATIO, 1, pidProfile->pterm_cut_hz), dT);
}
else {
PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
}
}
// -----calculate I component.
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f);
@ -296,16 +286,6 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
PTerm -= ((int32_t)gyroADC[axis] / 4) * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
// Pterm low pass
if (pidProfile->pterm_cut_hz) {
if (axis == YAW) {
PTerm = filterApplyPt1(PTerm, &PTermState[axis], constrain(pidProfile->pterm_cut_hz / YAW_PTERM_CUT_RATIO, 1, pidProfile->pterm_cut_hz), dT);
}
else {
PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
}
}
delta = (gyroADC[axis] - lastGyro[axis]) / 4;
lastGyro[axis] = gyroADC[axis];
deltaSum = delta1[axis] + delta2[axis] + delta;
@ -391,16 +371,6 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
PTerm -= ((int32_t)(gyroADC[axis] / 4) * dynP8[axis]) >> 6; // 32 bits is needed for calculation
// Pterm low pass
if (pidProfile->pterm_cut_hz) {
if (axis == YAW) {
PTerm = filterApplyPt1(PTerm, &PTermState[axis], constrain(pidProfile->pterm_cut_hz / YAW_PTERM_CUT_RATIO, 1, pidProfile->pterm_cut_hz), dT);
}
else {
PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
}
}
delta = (gyroADC[axis] - lastGyro[axis]) / 4; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
lastGyro[axis] = gyroADC[axis];
DTerm = delta1[axis] + delta2[axis] + delta;
@ -520,16 +490,6 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
PTerm -= ((int32_t)gyroADC[axis] / 4) * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
// Pterm low pass
if (pidProfile->pterm_cut_hz) {
if (axis == YAW) {
PTerm = filterApplyPt1(PTerm, &PTermState[axis], constrain(pidProfile->pterm_cut_hz / YAW_PTERM_CUT_RATIO, 1, pidProfile->pterm_cut_hz), dT);
}
else {
PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
}
}
delta = (gyroADC[axis] - lastGyro[axis]) / 4;
lastGyro[axis] = gyroADC[axis];
deltaSum = delta1[axis] + delta2[axis] + delta;
@ -647,11 +607,6 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
PTerm -= gyroADCQuant * dynP8[axis] * 0.003f;
// Pterm low pass
if (pidProfile->pterm_cut_hz) {
PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
}
delta = (gyroADCQuant - lastGyro[axis]) / ACCDeltaTimeINS;
lastGyro[axis] = gyroADCQuant;
@ -699,11 +654,6 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
}
}
// Pterm low pass
if (pidProfile->pterm_cut_hz) {
PTerm = filterApplyPt1(PTerm, &PTermState[axis], constrain(pidProfile->pterm_cut_hz / YAW_PTERM_CUT_RATIO, 1, pidProfile->pterm_cut_hz), dT);
}
axisPID[FD_YAW] = PTerm + ITerm;
axisPID[FD_YAW] = lrintf(axisPID[FD_YAW]); // Round up result.
@ -793,16 +743,6 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
// -----calculate P component
PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
// Pterm low pass
if (pidProfile->pterm_cut_hz) {
if (axis == YAW) {
PTerm = filterApplyPt1(PTerm, &PTermState[axis], constrain(pidProfile->pterm_cut_hz / YAW_PTERM_CUT_RATIO, 1, pidProfile->pterm_cut_hz), dT);
}
else {
PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
}
}
// -----calculate I component
// there should be no division before accumulating the error to integrator, because the precision would be reduced.
// Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.