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Autotune phase changes.

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Add an additional phase to allow previous pid settings to be restored,
in flight, after auto tuning.
This commit is contained in:
Dominic Clifton 2014-05-27 14:37:28 +01:00
parent f7c38af7fc
commit 4c764aacf4
5 changed files with 262 additions and 26 deletions
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5
src/flight_common.c
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@ -135,6 +135,7 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
}
}
static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim)
{
@ -155,7 +156,7 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
+max_angle_inclination) - inclination.rawAngles[axis] + angleTrim->raw[axis];
if (shouldAutotune()) {
errorAngle = autotune(rcAliasToAngleIndexMap[axis], &inclination, errorAngle);
errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
}
PTermACC = errorAngle * pidProfile->P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
@ -223,7 +224,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
+max_angle_inclination) - inclination.rawAngles[axis] + angleTrim->raw[axis]; // 16 bits is ok here
if (shouldAutotune()) {
errorAngle = autotune(rcAliasToAngleIndexMap[axis], &inclination, errorAngle);
errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
}
if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID