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+ added alternative PID controller from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671
+ this is a per-profile setting, and PIDs CHANGE from default multiwii ones. check the above forum post for PID examples. set pid_controller = 0 for default multiwii, or 1 for new one. = went back to clearing clibuffer after each command git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@341 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
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timecop@gmail.com
parent
415600b447
commit
4e94fd07e5
6 changed files with 164 additions and 61 deletions
209
src/mw.c
209
src/mw.c
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@ -1,7 +1,7 @@
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#include "board.h"
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#include "mw.h"
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// October 2012 V2.1-dev
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// June 2013 V2.2-dev
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flags_t f;
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int16_t debug[4];
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@ -24,6 +24,10 @@ int16_t lookupThrottleRC[11]; // lookup table for expo & mid THROTTLE
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uint16_t rssi; // range: [0;1023]
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rcReadRawDataPtr rcReadRawFunc = NULL; // receive data from default (pwm/ppm) or additional (spek/sbus/?? receiver drivers)
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static void pidMultiWii(void);
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static void pidRewrite(void);
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pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are we using, defaultMultiWii
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uint8_t dynP8[3], dynI8[3], dynD8[3];
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uint8_t rcOptions[CHECKBOXITEMS];
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@ -132,6 +136,7 @@ void annexCode(void)
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prop1 = 100 - (uint16_t) cfg.yawRate * tmp / 500;
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}
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dynP8[axis] = (uint16_t) cfg.P8[axis] * prop1 / 100;
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dynI8[axis] = (uint16_t) cfg.I8[axis] * prop1 / 100;
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dynD8[axis] = (uint16_t) cfg.D8[axis] * prop1 / 100;
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if (rcData[axis] < mcfg.midrc)
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rcCommand[axis] = -rcCommand[axis];
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@ -273,25 +278,160 @@ static void mwVario(void)
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}
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static int32_t errorGyroI[3] = { 0, 0, 0 };
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static int32_t errorAngleI[2] = { 0, 0 };
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static void pidMultiWii(void)
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{
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int axis, prop;
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int16_t error, errorAngle;
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int16_t PTerm, ITerm, PTermACC, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
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static int16_t lastGyro[3] = { 0, 0, 0 };
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static int16_t delta1[3], delta2[3];
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int16_t deltaSum;
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int16_t delta;
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// **** PITCH & ROLL & YAW PID ****
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prop = max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])); // range [0;500]
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for (axis = 0; axis < 3; axis++) {
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if ((f.ANGLE_MODE || f.HORIZON_MODE) && axis < 2) { // MODE relying on ACC
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// 50 degrees max inclination
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errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis];
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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
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PTermACC = constrain(PTermACC, -cfg.D8[PIDLEVEL] * 5, +cfg.D8[PIDLEVEL] * 5);
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errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp
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ITermACC = ((int32_t)errorAngleI[axis] * cfg.I8[PIDLEVEL]) >> 12;
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}
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if (!f.ANGLE_MODE || f.HORIZON_MODE || axis == 2) { // MODE relying on GYRO or YAW axis
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error = (int32_t)rcCommand[axis] * 10 * 8 / cfg.P8[axis];
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error -= gyroData[axis];
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PTermGYRO = rcCommand[axis];
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errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
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if (abs(gyroData[axis]) > 640)
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errorGyroI[axis] = 0;
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ITermGYRO = (errorGyroI[axis] / 125 * cfg.I8[axis]) >> 6;
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}
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if (f.HORIZON_MODE && axis < 2) {
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PTerm = ((int32_t)PTermACC * (500 - prop) + (int32_t)PTermGYRO * prop) / 500;
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ITerm = ((int32_t)ITermACC * (500 - prop) + (int32_t)ITermGYRO * prop) / 500;
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} else {
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if (f.ANGLE_MODE && axis < 2) {
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PTerm = PTermACC;
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ITerm = ITermACC;
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} else {
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PTerm = PTermGYRO;
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ITerm = ITermGYRO;
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}
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}
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PTerm -= (int32_t)gyroData[axis] * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
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delta = gyroData[axis] - lastGyro[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
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lastGyro[axis] = gyroData[axis];
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deltaSum = delta1[axis] + delta2[axis] + delta;
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delta2[axis] = delta1[axis];
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delta1[axis] = delta;
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DTerm = ((int32_t)deltaSum * dynD8[axis]) >> 5; // 32 bits is needed for calculation
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axisPID[axis] = PTerm + ITerm - DTerm;
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}
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}
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#define GYRO_I_MAX 256
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static void pidRewrite(void)
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{
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int16_t errorAngle;
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int axis;
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int16_t delta, deltaSum;
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static int16_t delta1[3], delta2[3];
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int16_t PTerm, ITerm, DTerm;
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static int16_t lastError[3] = { 0, 0, 0 };
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int16_t AngleRateTmp, RateError;
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// ----------PID controller----------
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for (axis = 0; axis < 3; axis++) {
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// -----Get the desired angle rate depending on flight mode
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if ((f.ANGLE_MODE || f.HORIZON_MODE) && axis < 2 ) { // MODE relying on ACC
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// calculate error and limit the angle to 50 degrees max inclination
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errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis]; // 16 bits is ok here
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}
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if (axis == 2) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
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AngleRateTmp = (((int32_t) (cfg.yawRate + 27) * rcCommand[2]) >> 5);
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} else {
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if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
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AngleRateTmp = ((int32_t) (cfg.rollPitchRate + 27) * rcCommand[axis]) >> 4;
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if (f.HORIZON_MODE) {
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// mix up angle error to desired AngleRateTmp to add a little auto-level feel
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AngleRateTmp += ((int32_t) errorAngle * cfg.I8[PIDLEVEL]) >> 8;
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}
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} else { // it's the ANGLE mode - control is angle based, so control loop is needed
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AngleRateTmp = ((int32_t) errorAngle * cfg.P8[PIDLEVEL]) >> 4;
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}
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}
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// --------low-level gyro-based PID. ----------
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// Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
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// -----calculate scaled error.AngleRates
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// multiplication of rcCommand corresponds to changing the sticks scaling here
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RateError = AngleRateTmp - gyroData[axis];
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// -----calculate P component
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PTerm = ((int32_t)RateError * cfg.P8[axis]) >> 7;
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// -----calculate I component
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// there should be no division before accumulating the error to integrator, because the precision would be reduced.
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// Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.
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// Time correction (to avoid different I scaling for different builds based on average cycle time)
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// is normalized to cycle time = 2048.
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errorGyroI[axis] = errorGyroI[axis] + (((int32_t)RateError * cycleTime) >> 11) * cfg.I8[axis];
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// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
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// I coefficient (I8) moved before integration to make limiting independent from PID settings
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errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t)-GYRO_I_MAX << 13, (int32_t)+GYRO_I_MAX << 13);
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ITerm = errorGyroI[axis] >> 13;
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//-----calculate D-term
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delta = RateError - lastError[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
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lastError[axis] = RateError;
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// Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
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// would be scaled by different dt each time. Division by dT fixes that.
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delta = ((int32_t) delta * ((uint16_t)0xFFFF / (cycleTime >> 4))) >> 6;
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// add moving average here to reduce noise
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deltaSum = delta1[axis] + delta2[axis] + delta;
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delta2[axis] = delta1[axis];
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delta1[axis] = delta;
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DTerm = (deltaSum * cfg.D8[axis]) >> 8;
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// -----calculate total PID output
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axisPID[axis] = PTerm + ITerm + DTerm;
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}
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}
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void setPIDController(int type)
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{
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switch (type) {
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case 0:
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default:
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pid_controller = pidMultiWii;
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break;
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case 1:
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pid_controller = pidRewrite;
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break;
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}
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}
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void loop(void)
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{
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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
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static uint8_t rcSticks; // this hold sticks position for command combos
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uint8_t stTmp = 0;
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uint8_t axis, i;
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int16_t error, errorAngle;
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int16_t PTerm, ITerm, PTermACC, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
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static int16_t errorGyroI[3] = { 0, 0, 0 };
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static int16_t errorAngleI[2] = { 0, 0 };
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int16_t delta;
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static int16_t lastGyro[3] = { 0, 0, 0 };
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static int16_t delta1[3], delta2[3];
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int16_t deltaSum;
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int i;
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static uint32_t rcTime = 0;
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static int16_t initialThrottleHold;
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static uint32_t loopTime;
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uint16_t auxState = 0;
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int16_t prop;
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static uint8_t GPSNavReset = 1;
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// this will return false if spektrum is disabled. shrug.
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@ -703,51 +843,8 @@ void loop(void)
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}
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}
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// **** PITCH & ROLL & YAW PID ****
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prop = max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])); // range [0;500]
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for (axis = 0; axis < 3; axis++) {
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if ((f.ANGLE_MODE || f.HORIZON_MODE) && axis < 2) { // MODE relying on ACC
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// 50 degrees max inclination
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errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis];
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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
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PTermACC = constrain(PTermACC, -cfg.D8[PIDLEVEL] * 5, +cfg.D8[PIDLEVEL] * 5);
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errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp
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ITermACC = ((int32_t)errorAngleI[axis] * cfg.I8[PIDLEVEL]) >> 12;
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}
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if (!f.ANGLE_MODE || f.HORIZON_MODE || axis == 2) { // MODE relying on GYRO or YAW axis
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error = (int32_t)rcCommand[axis] * 10 * 8 / cfg.P8[axis];
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error -= gyroData[axis];
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PTermGYRO = rcCommand[axis];
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errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
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if (abs(gyroData[axis]) > 640)
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errorGyroI[axis] = 0;
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ITermGYRO = (errorGyroI[axis] / 125 * cfg.I8[axis]) >> 6;
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}
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if (f.HORIZON_MODE && axis < 2) {
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PTerm = ((int32_t)PTermACC * (500 - prop) + (int32_t)PTermGYRO * prop) / 500;
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ITerm = ((int32_t)ITermACC * (500 - prop) + (int32_t)ITermGYRO * prop) / 500;
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} else {
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if (f.ANGLE_MODE && axis < 2) {
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PTerm = PTermACC;
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ITerm = ITermACC;
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} else {
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PTerm = PTermGYRO;
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ITerm = ITermGYRO;
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}
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}
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PTerm -= (int32_t)gyroData[axis] * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
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delta = gyroData[axis] - lastGyro[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
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lastGyro[axis] = gyroData[axis];
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deltaSum = delta1[axis] + delta2[axis] + delta;
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delta2[axis] = delta1[axis];
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delta1[axis] = delta;
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DTerm = ((int32_t)deltaSum * dynD8[axis]) >> 5; // 32 bits is needed for calculation
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axisPID[axis] = PTerm + ITerm - DTerm;
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}
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// PID - note this is function pointer set by setPIDController()
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pid_controller();
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mixTable();
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writeServos();
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