diff --git a/baseflight.uvproj b/baseflight.uvproj
index 51e4d102c5..a104661ca7 100755
--- a/baseflight.uvproj
+++ b/baseflight.uvproj
@@ -197,7 +197,7 @@
1
1
1
- 0
+ 1
0
"Cortex-M3"
@@ -990,7 +990,7 @@
1
1
0
- 0
+ 1
1
0
0
@@ -1003,7 +1003,7 @@
1
1
1
- 0
+ 1
0
"Cortex-M3"
diff --git a/src/board.h b/src/board.h
index 4bc386af4d..82b99dc783 100755
--- a/src/board.h
+++ b/src/board.h
@@ -75,6 +75,7 @@ typedef void (* sensorReadFuncPtr)(int16_t *data); // sensor read and a
typedef void (* baroCalculateFuncPtr)(int32_t *pressure, int32_t *temperature); // baro calculation (filled params are pressure and temperature)
typedef void (* uartReceiveCallbackPtr)(uint16_t data); // used by uart2 driver to return frames to app
typedef uint16_t (* rcReadRawDataPtr)(uint8_t chan); // used by receiver driver to return channel data
+typedef void (* pidControllerFuncPtr)(void); // pid controller function prototype
typedef struct sensor_t
{
diff --git a/src/cli.c b/src/cli.c
index e95efeb2f1..22237ab828 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -133,6 +133,7 @@ const clivalue_t valueTable[] = {
{ "gyro_cmpf_factor", VAR_UINT16, &mcfg.gyro_cmpf_factor, 100, 1000 },
{ "gyro_cmpfm_factor", VAR_UINT16, &mcfg.gyro_cmpfm_factor, 100, 1000 },
{ "gps_type", VAR_UINT8, &mcfg.gps_type, 0, 3 },
+ { "pid_controller", VAR_UINT8, &cfg.pidController, 0, 1 },
{ "deadband", VAR_UINT8, &cfg.deadband, 0, 32 },
{ "yawdeadband", VAR_UINT8, &cfg.yawdeadband, 0, 100 },
{ "alt_hold_throttle_neutral", VAR_UINT8, &cfg.alt_hold_throttle_neutral, 1, 250 },
@@ -1013,7 +1014,7 @@ void cliProcess(void)
else
uartPrint("ERR: Unknown command, try 'help'");
- *cliBuffer = '\0';
+ memset(cliBuffer, 0, sizeof(cliBuffer));
bufferIndex = 0;
// 'exit' will reset this flag, so we don't need to print prompt again
diff --git a/src/config.c b/src/config.c
index 9632f69c6e..e580b2816c 100755
--- a/src/config.c
+++ b/src/config.c
@@ -13,7 +13,7 @@ master_t mcfg; // master config struct with data independent from profiles
config_t cfg; // profile config struct
const char rcChannelLetters[] = "AERT1234";
-static uint8_t EEPROM_CONF_VERSION = 47;
+static uint8_t EEPROM_CONF_VERSION = 48;
static uint32_t enabledSensors = 0;
static void resetConf(void);
@@ -84,6 +84,7 @@ void readEEPROM(void)
}
cfg.tri_yaw_middle = constrain(cfg.tri_yaw_middle, cfg.tri_yaw_min, cfg.tri_yaw_max); //REAR
+ setPIDController(cfg.pidController);
}
void writeEEPROM(uint8_t b, uint8_t updateProfile)
@@ -202,6 +203,7 @@ static void resetConf(void)
mcfg.serial_baudrate = 115200;
mcfg.looptime = 3500;
+ cfg.pidController = 0;
cfg.P8[ROLL] = 40;
cfg.I8[ROLL] = 30;
cfg.D8[ROLL] = 23;
diff --git a/src/mw.c b/src/mw.c
index 6de1e0aed0..38ad20d7c5 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -1,7 +1,7 @@
#include "board.h"
#include "mw.h"
-// October 2012 V2.1-dev
+// June 2013 V2.2-dev
flags_t f;
int16_t debug[4];
@@ -24,6 +24,10 @@ int16_t lookupThrottleRC[11]; // lookup table for expo & mid THROTTLE
uint16_t rssi; // range: [0;1023]
rcReadRawDataPtr rcReadRawFunc = NULL; // receive data from default (pwm/ppm) or additional (spek/sbus/?? receiver drivers)
+static void pidMultiWii(void);
+static void pidRewrite(void);
+pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are we using, defaultMultiWii
+
uint8_t dynP8[3], dynI8[3], dynD8[3];
uint8_t rcOptions[CHECKBOXITEMS];
@@ -132,6 +136,7 @@ void annexCode(void)
prop1 = 100 - (uint16_t) cfg.yawRate * tmp / 500;
}
dynP8[axis] = (uint16_t) cfg.P8[axis] * prop1 / 100;
+ dynI8[axis] = (uint16_t) cfg.I8[axis] * prop1 / 100;
dynD8[axis] = (uint16_t) cfg.D8[axis] * prop1 / 100;
if (rcData[axis] < mcfg.midrc)
rcCommand[axis] = -rcCommand[axis];
@@ -273,25 +278,160 @@ static void mwVario(void)
}
+static int32_t errorGyroI[3] = { 0, 0, 0 };
+static int32_t errorAngleI[2] = { 0, 0 };
+
+static void pidMultiWii(void)
+{
+ int axis, prop;
+ int16_t error, errorAngle;
+ int16_t PTerm, ITerm, PTermACC, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
+ static int16_t lastGyro[3] = { 0, 0, 0 };
+ static int16_t delta1[3], delta2[3];
+ int16_t deltaSum;
+ int16_t delta;
+
+ // **** PITCH & ROLL & YAW PID ****
+ prop = max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])); // range [0;500]
+ for (axis = 0; axis < 3; axis++) {
+ if ((f.ANGLE_MODE || f.HORIZON_MODE) && axis < 2) { // MODE relying on ACC
+ // 50 degrees max inclination
+ errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis];
+ PTermACC = (int32_t)errorAngle * cfg.P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
+ PTermACC = constrain(PTermACC, -cfg.D8[PIDLEVEL] * 5, +cfg.D8[PIDLEVEL] * 5);
+
+ errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp
+ ITermACC = ((int32_t)errorAngleI[axis] * cfg.I8[PIDLEVEL]) >> 12;
+ }
+ if (!f.ANGLE_MODE || f.HORIZON_MODE || axis == 2) { // MODE relying on GYRO or YAW axis
+ error = (int32_t)rcCommand[axis] * 10 * 8 / cfg.P8[axis];
+ error -= gyroData[axis];
+
+ PTermGYRO = rcCommand[axis];
+
+ errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
+ if (abs(gyroData[axis]) > 640)
+ errorGyroI[axis] = 0;
+ ITermGYRO = (errorGyroI[axis] / 125 * cfg.I8[axis]) >> 6;
+ }
+ if (f.HORIZON_MODE && axis < 2) {
+ PTerm = ((int32_t)PTermACC * (500 - prop) + (int32_t)PTermGYRO * prop) / 500;
+ ITerm = ((int32_t)ITermACC * (500 - prop) + (int32_t)ITermGYRO * prop) / 500;
+ } else {
+ if (f.ANGLE_MODE && axis < 2) {
+ PTerm = PTermACC;
+ ITerm = ITermACC;
+ } else {
+ PTerm = PTermGYRO;
+ ITerm = ITermGYRO;
+ }
+ }
+
+ PTerm -= (int32_t)gyroData[axis] * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
+ delta = gyroData[axis] - lastGyro[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
+ lastGyro[axis] = gyroData[axis];
+ deltaSum = delta1[axis] + delta2[axis] + delta;
+ delta2[axis] = delta1[axis];
+ delta1[axis] = delta;
+ DTerm = ((int32_t)deltaSum * dynD8[axis]) >> 5; // 32 bits is needed for calculation
+ axisPID[axis] = PTerm + ITerm - DTerm;
+ }
+}
+
+#define GYRO_I_MAX 256
+
+static void pidRewrite(void)
+{
+ int16_t errorAngle;
+ int axis;
+ int16_t delta, deltaSum;
+ static int16_t delta1[3], delta2[3];
+ int16_t PTerm, ITerm, DTerm;
+ static int16_t lastError[3] = { 0, 0, 0 };
+ int16_t AngleRateTmp, RateError;
+
+ // ----------PID controller----------
+ for (axis = 0; axis < 3; axis++) {
+ // -----Get the desired angle rate depending on flight mode
+ if ((f.ANGLE_MODE || f.HORIZON_MODE) && axis < 2 ) { // MODE relying on ACC
+ // calculate error and limit the angle to 50 degrees max inclination
+ errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis]; // 16 bits is ok here
+ }
+ if (axis == 2) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
+ AngleRateTmp = (((int32_t) (cfg.yawRate + 27) * rcCommand[2]) >> 5);
+ } else {
+ if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
+ AngleRateTmp = ((int32_t) (cfg.rollPitchRate + 27) * rcCommand[axis]) >> 4;
+ if (f.HORIZON_MODE) {
+ // mix up angle error to desired AngleRateTmp to add a little auto-level feel
+ AngleRateTmp += ((int32_t) errorAngle * cfg.I8[PIDLEVEL]) >> 8;
+ }
+ } else { // it's the ANGLE mode - control is angle based, so control loop is needed
+ AngleRateTmp = ((int32_t) errorAngle * cfg.P8[PIDLEVEL]) >> 4;
+ }
+ }
+
+ // --------low-level gyro-based PID. ----------
+ // Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
+ // -----calculate scaled error.AngleRates
+ // multiplication of rcCommand corresponds to changing the sticks scaling here
+ RateError = AngleRateTmp - gyroData[axis];
+
+ // -----calculate P component
+ PTerm = ((int32_t)RateError * cfg.P8[axis]) >> 7;
+ // -----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.
+ // Time correction (to avoid different I scaling for different builds based on average cycle time)
+ // is normalized to cycle time = 2048.
+ errorGyroI[axis] = errorGyroI[axis] + (((int32_t)RateError * cycleTime) >> 11) * cfg.I8[axis];
+
+ // limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
+ // I coefficient (I8) moved before integration to make limiting independent from PID settings
+ errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t)-GYRO_I_MAX << 13, (int32_t)+GYRO_I_MAX << 13);
+ ITerm = errorGyroI[axis] >> 13;
+
+ //-----calculate D-term
+ delta = RateError - lastError[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
+ lastError[axis] = RateError;
+
+ // Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
+ // would be scaled by different dt each time. Division by dT fixes that.
+ delta = ((int32_t) delta * ((uint16_t)0xFFFF / (cycleTime >> 4))) >> 6;
+ // add moving average here to reduce noise
+ deltaSum = delta1[axis] + delta2[axis] + delta;
+ delta2[axis] = delta1[axis];
+ delta1[axis] = delta;
+ DTerm = (deltaSum * cfg.D8[axis]) >> 8;
+
+ // -----calculate total PID output
+ axisPID[axis] = PTerm + ITerm + DTerm;
+ }
+}
+
+void setPIDController(int type)
+{
+ switch (type) {
+ case 0:
+ default:
+ pid_controller = pidMultiWii;
+ break;
+ case 1:
+ pid_controller = pidRewrite;
+ break;
+ }
+}
+
void loop(void)
{
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
static uint8_t rcSticks; // this hold sticks position for command combos
uint8_t stTmp = 0;
- uint8_t axis, i;
- int16_t error, errorAngle;
- int16_t PTerm, ITerm, PTermACC, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
- static int16_t errorGyroI[3] = { 0, 0, 0 };
- static int16_t errorAngleI[2] = { 0, 0 };
- int16_t delta;
- static int16_t lastGyro[3] = { 0, 0, 0 };
- static int16_t delta1[3], delta2[3];
- int16_t deltaSum;
+ int i;
static uint32_t rcTime = 0;
static int16_t initialThrottleHold;
static uint32_t loopTime;
uint16_t auxState = 0;
- int16_t prop;
static uint8_t GPSNavReset = 1;
// this will return false if spektrum is disabled. shrug.
@@ -703,51 +843,8 @@ void loop(void)
}
}
- // **** PITCH & ROLL & YAW PID ****
- prop = max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])); // range [0;500]
- for (axis = 0; axis < 3; axis++) {
- if ((f.ANGLE_MODE || f.HORIZON_MODE) && axis < 2) { // MODE relying on ACC
- // 50 degrees max inclination
- errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis];
- PTermACC = (int32_t)errorAngle * cfg.P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
- PTermACC = constrain(PTermACC, -cfg.D8[PIDLEVEL] * 5, +cfg.D8[PIDLEVEL] * 5);
-
- errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp
- ITermACC = ((int32_t)errorAngleI[axis] * cfg.I8[PIDLEVEL]) >> 12;
- }
- if (!f.ANGLE_MODE || f.HORIZON_MODE || axis == 2) { // MODE relying on GYRO or YAW axis
- error = (int32_t)rcCommand[axis] * 10 * 8 / cfg.P8[axis];
- error -= gyroData[axis];
-
- PTermGYRO = rcCommand[axis];
-
- errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
- if (abs(gyroData[axis]) > 640)
- errorGyroI[axis] = 0;
- ITermGYRO = (errorGyroI[axis] / 125 * cfg.I8[axis]) >> 6;
- }
- if (f.HORIZON_MODE && axis < 2) {
- PTerm = ((int32_t)PTermACC * (500 - prop) + (int32_t)PTermGYRO * prop) / 500;
- ITerm = ((int32_t)ITermACC * (500 - prop) + (int32_t)ITermGYRO * prop) / 500;
- } else {
- if (f.ANGLE_MODE && axis < 2) {
- PTerm = PTermACC;
- ITerm = ITermACC;
- } else {
- PTerm = PTermGYRO;
- ITerm = ITermGYRO;
- }
- }
-
- PTerm -= (int32_t)gyroData[axis] * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
- delta = gyroData[axis] - lastGyro[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
- lastGyro[axis] = gyroData[axis];
- deltaSum = delta1[axis] + delta2[axis] + delta;
- delta2[axis] = delta1[axis];
- delta1[axis] = delta;
- DTerm = ((int32_t)deltaSum * dynD8[axis]) >> 5; // 32 bits is needed for calculation
- axisPID[axis] = PTerm + ITerm - DTerm;
- }
+ // PID - note this is function pointer set by setPIDController()
+ pid_controller();
mixTable();
writeServos();
diff --git a/src/mw.h b/src/mw.h
index 551548f1d3..0b6623159d 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -145,6 +145,7 @@ enum {
};
typedef struct config_t {
+ uint8_t pidController; // 0 = multiwii original, 1 = rewrite from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671
uint8_t P8[PIDITEMS];
uint8_t I8[PIDITEMS];
uint8_t D8[PIDITEMS];
@@ -371,6 +372,7 @@ extern sensor_t gyro;
extern baro_t baro;
// main
+void setPIDController(int type);
void loop(void);
// IMU