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implement reviews, reduce PID gains

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This commit is contained in:
ctzsnooze 2024-10-28 10:57:24 +11:00
parent d5d38a422f
commit 532c8faa98
7 changed files with 43 additions and 50 deletions
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11
src/main/flight/autopilot.c
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@ -40,9 +40,9 @@
#define ALTITUDE_D_SCALE 0.01f
#define ALTITUDE_F_SCALE 0.01f
#define POSITION_P_SCALE 0.001f
#define POSITION_I_SCALE 0.0005f
#define POSITION_D_SCALE 0.002f
#define POSITION_A_SCALE 0.002f
#define POSITION_I_SCALE 0.0001f
#define POSITION_D_SCALE 0.0015f
#define POSITION_A_SCALE 0.0015f
static pidCoefficient_t altitudePidCoeffs;
static pidCoefficient_t positionPidCoeffs;
@ -190,7 +190,7 @@ void setSticksActiveStatus(bool areSticksActive)
posHold.sticksActive = areSticksActive;
}
void updateTargetLocation(gpsLocation_t newTargetLocation) {
void setTargetLocation(gpsLocation_t newTargetLocation) {
currentTargetLocation = newTargetLocation;
}
@ -237,6 +237,7 @@ bool positionControl(void) {
// larger threshold if faster at start
if (posHold.NS.isStarting || posHold.EW.isStarting) {
posHold.sanityCheckDistance = gpsSol.groundSpeed > 1000 ? gpsSol.groundSpeed : 1000.0f;
// 1s of flight at current speed or 10m, in cm
}
// primarily to detect flyaway from no Mag or badly oriented Mag
// but must accept some overshoot at the start, especially if entering at high speed
@ -322,7 +323,7 @@ bool positionControl(void) {
}
// ** Rotate pid Sum to quad frame of reference, into pitch and roll **
float headingRads = (attitude.values.yaw / 10.0f) * RAD; // will be constrained to +/-pi in sin_approx()
float headingRads = DECIDEGREES_TO_RADIANS(attitude.values.yaw); // will be constrained to +/-pi in sin_approx()
const float sinHeading = sin_approx(headingRads);
const float cosHeading = cos_approx(headingRads);
float pidSumRoll = -sinHeading * posHold.NS.pidSum + cosHeading * posHold.EW.pidSum;