mirror of
https://github.com/betaflight/betaflight.git
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Merge pull request #557 from blckmn/development
Re-added use_unsyncedPwm
This commit is contained in:
J Blackman
GitHub
commit
5d385d0019
16 changed files with 280 additions and 203 deletions
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@ -180,29 +180,34 @@ static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
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static void resetPidProfile(pidProfile_t *pidProfile)
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{
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pidProfile->pidController = 1;
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#if (defined(STM32F10X))
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pidProfile->pidController = PID_CONTROLLER_MWREWRITE;
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#else
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pidProfile->pidController = PID_CONTROLLER_LUX_FLOAT;
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#endif
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pidProfile->P8[ROLL] = 45;
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pidProfile->I8[ROLL] = 40;
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pidProfile->D8[ROLL] = 15;
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pidProfile->P8[PITCH] = 45;
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pidProfile->D8[ROLL] = 18;
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pidProfile->P8[PITCH] = 50;
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pidProfile->I8[PITCH] = 40;
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pidProfile->D8[PITCH] = 15;
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pidProfile->D8[PITCH] = 18;
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pidProfile->P8[YAW] = 90;
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pidProfile->I8[YAW] = 45;
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pidProfile->D8[YAW] = 20;
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pidProfile->P8[PIDALT] = 50;
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pidProfile->I8[PIDALT] = 0;
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pidProfile->D8[PIDALT] = 0;
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pidProfile->P8[PIDPOS] = 15; // POSHOLD_P * 100;
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pidProfile->I8[PIDPOS] = 0; // POSHOLD_I * 100;
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pidProfile->P8[PIDPOS] = 15; // POSHOLD_P * 100;
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pidProfile->I8[PIDPOS] = 0; // POSHOLD_I * 100;
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pidProfile->D8[PIDPOS] = 0;
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pidProfile->P8[PIDPOSR] = 34; // POSHOLD_RATE_P * 10;
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pidProfile->I8[PIDPOSR] = 14; // POSHOLD_RATE_I * 100;
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pidProfile->D8[PIDPOSR] = 53; // POSHOLD_RATE_D * 1000;
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pidProfile->P8[PIDNAVR] = 25; // NAV_P * 10;
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pidProfile->I8[PIDNAVR] = 33; // NAV_I * 100;
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pidProfile->D8[PIDNAVR] = 83; // NAV_D * 1000;
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pidProfile->P8[PIDPOSR] = 34; // POSHOLD_RATE_P * 10;
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pidProfile->I8[PIDPOSR] = 14; // POSHOLD_RATE_I * 100;
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pidProfile->D8[PIDPOSR] = 53; // POSHOLD_RATE_D * 1000;
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pidProfile->P8[PIDNAVR] = 25; // NAV_P * 10;
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pidProfile->I8[PIDNAVR] = 33; // NAV_I * 100;
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pidProfile->D8[PIDNAVR] = 83; // NAV_D * 1000;
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pidProfile->P8[PIDLEVEL] = 50;
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pidProfile->I8[PIDLEVEL] = 50;
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pidProfile->D8[PIDLEVEL] = 100;
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@ -214,8 +219,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
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pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
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pidProfile->yaw_lpf_hz = 80;
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pidProfile->rollPitchItermIgnoreRate = 200;
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pidProfile->yawItermIgnoreRate = 45;
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pidProfile->dterm_lpf_hz = 110; // filtering ON by default
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pidProfile->yawItermIgnoreRate = 35;
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pidProfile->dterm_lpf_hz = 50; // filtering ON by default
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pidProfile->dynamic_pid = 1;
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#ifdef GTUNE
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@ -265,7 +270,7 @@ void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
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escAndServoConfig->maxthrottle = 1850;
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escAndServoConfig->mincommand = 1000;
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escAndServoConfig->servoCenterPulse = 1500;
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escAndServoConfig->escDesyncProtection = 10000;
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escAndServoConfig->escDesyncProtection = 0;
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}
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void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
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@ -388,14 +393,14 @@ uint8_t getCurrentControlRateProfile(void)
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return currentControlRateProfileIndex;
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}
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static void setControlRateProfile(uint8_t profileIndex)
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{
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currentControlRateProfileIndex = profileIndex;
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masterConfig.profile[getCurrentProfile()].activeRateProfile = profileIndex;
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currentControlRateProfile = &masterConfig.profile[getCurrentProfile()].controlRateProfile[profileIndex];
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static void setControlRateProfile(uint8_t profileIndex)
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{
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currentControlRateProfileIndex = profileIndex;
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masterConfig.profile[getCurrentProfile()].activeRateProfile = profileIndex;
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currentControlRateProfile = &masterConfig.profile[getCurrentProfile()].controlRateProfile[profileIndex];
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}
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controlRateConfig_t *getControlRateConfig(uint8_t profileIndex)
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controlRateConfig_t *getControlRateConfig(uint8_t profileIndex)
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{
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return &masterConfig.profile[profileIndex].controlRateProfile[masterConfig.profile[profileIndex].activeRateProfile];
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}
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@ -489,10 +494,10 @@ static void resetConf(void)
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masterConfig.rxConfig.rssi_channel = 0;
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masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
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masterConfig.rxConfig.rssi_ppm_invert = 0;
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masterConfig.rxConfig.rcSmoothing = 0;
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masterConfig.rxConfig.rcSmoothing = 0; // TODO - Cleanup with next EEPROM changes
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masterConfig.rxConfig.fpvCamAngleDegrees = 0;
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#ifdef STM32F4
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masterConfig.rxConfig.max_aux_channel = 99;
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masterConfig.rxConfig.max_aux_channel = 99;
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#else
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masterConfig.rxConfig.max_aux_channel = 6;
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#endif
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@ -541,11 +546,11 @@ static void resetConf(void)
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masterConfig.emf_avoidance = 0; // TODO - needs removal
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resetPidProfile(¤tProfile->pidProfile);
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uint8_t rI;
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for (rI = 0; rI<MAX_RATEPROFILES; rI++) {
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resetControlRateConfig(&masterConfig.profile[0].controlRateProfile[rI]);
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}
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uint8_t rI;
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for (rI = 0; rI<MAX_RATEPROFILES; rI++) {
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resetControlRateConfig(&masterConfig.profile[0].controlRateProfile[rI]);
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}
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resetRollAndPitchTrims(&masterConfig.accelerometerTrims);
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masterConfig.mag_declination = 0;
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@ -887,22 +892,22 @@ void validateAndFixConfig(void)
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#if defined(CC3D) && defined(SONAR) && defined(USE_SOFTSERIAL1) && defined(RSSI_ADC_GPIO)
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// shared pin
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if ((featureConfigured(FEATURE_SONAR) + featureConfigured(FEATURE_SOFTSERIAL) + featureConfigured(FEATURE_RSSI_ADC)) > 1) {
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featureClear(FEATURE_SONAR);
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featureClear(FEATURE_SOFTSERIAL);
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featureClear(FEATURE_RSSI_ADC);
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featureClear(FEATURE_SONAR);
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featureClear(FEATURE_SOFTSERIAL);
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featureClear(FEATURE_RSSI_ADC);
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}
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#endif
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#if defined(COLIBRI_RACE)
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masterConfig.serialConfig.portConfigs[0].functionMask = FUNCTION_MSP;
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if(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_MSP)) {
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featureClear(FEATURE_RX_PARALLEL_PWM);
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featureClear(FEATURE_RX_MSP);
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featureSet(FEATURE_RX_PPM);
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featureClear(FEATURE_RX_PARALLEL_PWM);
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featureClear(FEATURE_RX_MSP);
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featureSet(FEATURE_RX_PPM);
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}
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if(featureConfigured(FEATURE_RX_SERIAL)) {
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masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
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//masterConfig.rxConfig.serialrx_provider = SERIALRX_SBUS;
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masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
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//masterConfig.rxConfig.serialrx_provider = SERIALRX_SBUS;
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}
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#endif
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@ -980,11 +985,11 @@ void writeEEPROM(void)
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for (wordOffset = 0; wordOffset < sizeof(master_t); wordOffset += 4) {
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if (wordOffset % FLASH_PAGE_SIZE == 0) {
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#if defined(STM32F40_41xxx)
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status = FLASH_EraseSector(FLASH_Sector_8, VoltageRange_3); //0x08080000 to 0x080A0000
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status = FLASH_EraseSector(FLASH_Sector_8, VoltageRange_3); //0x08080000 to 0x080A0000
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#elif defined (STM32F411xE)
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status = FLASH_EraseSector(FLASH_Sector_7, VoltageRange_3); //0x08060000 to 0x08080000
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status = FLASH_EraseSector(FLASH_Sector_7, VoltageRange_3); //0x08060000 to 0x08080000
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#else
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status = FLASH_ErasePage(CONFIG_START_FLASH_ADDRESS + wordOffset);
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status = FLASH_ErasePage(CONFIG_START_FLASH_ADDRESS + wordOffset);
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#endif
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if (status != FLASH_COMPLETE) {
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break;
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@ -1040,12 +1045,12 @@ void changeProfile(uint8_t profileIndex)
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beeperConfirmationBeeps(profileIndex + 1);
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}
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void changeControlRateProfile(uint8_t profileIndex) {
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if (profileIndex > MAX_RATEPROFILES) {
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profileIndex = MAX_RATEPROFILES - 1;
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}
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setControlRateProfile(profileIndex);
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activateControlRateConfig();
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void changeControlRateProfile(uint8_t profileIndex) {
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if (profileIndex > MAX_RATEPROFILES) {
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profileIndex = MAX_RATEPROFILES - 1;
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}
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setControlRateProfile(profileIndex);
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activateControlRateConfig();
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}
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void handleOneshotFeatureChangeOnRestart(void)
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@ -35,6 +35,7 @@ typedef struct master_t {
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uint16_t motor_pwm_rate; // The update rate of motor outputs (50-498Hz)
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uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz)
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uint8_t motor_pwm_protocol; // Pwm Protocol
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uint8_t use_unsyncedPwm;
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#ifdef USE_SERVOS
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servoMixer_t customServoMixer[MAX_SERVO_RULES];
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@ -38,7 +38,7 @@
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#define PWM_TIMER_MHZ 1
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#define PWM_BRUSHED_TIMER_MHZ 8
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#define MULTISHOT_TIMER_MHZ 12
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#define MULTISHOT_TIMER_MHZ 72
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#define ONESHOT42_TIMER_MHZ 24
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#define ONESHOT125_TIMER_MHZ 8
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@ -19,6 +19,7 @@
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#include <stdint.h>
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#include <stdlib.h>
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#include <math.h>
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#include "platform.h"
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@ -135,7 +136,7 @@ static void pwmWriteStandard(uint8_t index, uint16_t value)
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static void pwmWriteMultiShot(uint8_t index, uint16_t value)
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{
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*motors[index]->ccr = 60001 * (value - 1000) / 250000 + 60;
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*motors[index]->ccr = lrintf(((float)(value-1000) / 0.69444f) + 360);
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}
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void pwmWriteMotor(uint8_t index, uint16_t value)
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@ -97,6 +97,7 @@ typedef struct {
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#define HARDWARE_TIMER_DEFINITION_COUNT 14
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#endif
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extern const timerHardware_t timerHardware[];
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extern const timerDef_t timerDefinitions[];
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@ -66,10 +66,13 @@ static flight3DConfig_t *flight3DConfig;
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static escAndServoConfig_t *escAndServoConfig;
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static airplaneConfig_t *airplaneConfig;
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static rxConfig_t *rxConfig;
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static bool syncPwm = false;
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static mixerMode_e currentMixerMode;
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static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
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float errorLimiter = 1.0f;
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#ifdef USE_SERVOS
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static uint8_t servoRuleCount = 0;
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static servoMixer_t currentServoMixer[MAX_SERVO_RULES];
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@ -418,13 +421,15 @@ void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMotorMixers, se
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}
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}
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void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration)
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void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration, bool use_unsyncedPwm)
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{
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int i;
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motorCount = 0;
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servoCount = pwmOutputConfiguration->servoCount;
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syncPwm = use_unsyncedPwm;
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if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
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// load custom mixer into currentMixer
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for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
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@ -633,13 +638,6 @@ void writeServos(void)
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}
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#endif
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static bool syncPwm = false;
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void syncMotors(bool enabled)
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{
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syncPwm = enabled;
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}
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void writeMotors(void)
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{
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uint8_t i;
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@ -823,7 +821,6 @@ void mixTable(void)
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throttleRange = throttleMax - throttleMin;
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if (rollPitchYawMixRange > throttleRange) {
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motorLimitReached = true;
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mixReduction = qConstruct(throttleRange, rollPitchYawMixRange);
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for (i = 0; i < motorCount; i++) {
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@ -831,14 +828,15 @@ void mixTable(void)
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}
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// Get the maximum correction by setting offset to center
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if (!escAndServoConfig->escDesyncProtection) throttleMin = throttleMax = throttleMin + (throttleRange / 2);
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if (debugMode == DEBUG_AIRMODE && i < 3) debug[1] = rollPitchYawMixRange;
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} else {
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motorLimitReached = false;
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throttleMin = throttleMin + (rollPitchYawMixRange / 2);
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throttleMax = throttleMax - (rollPitchYawMixRange / 2);
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}
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// adjust feedback to scale PID error inputs to our limitations.
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errorLimiter = constrainf(((float)throttleRange / rollPitchYawMixRange), 0.1f, 1.0f);
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if (debugMode == DEBUG_AIRMODE) debug[1] = errorLimiter * 100;
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// Now add in the desired throttle, but keep in a range that doesn't clip adjusted
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// roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
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for (i = 0; i < motorCount; i++) {
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@ -189,7 +189,6 @@ void filterServos(void);
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extern int16_t motor[MAX_SUPPORTED_MOTORS];
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extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
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bool motorLimitReached;
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struct escAndServoConfig_s;
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struct rxConfig_s;
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@ -49,8 +49,9 @@
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#include "config/runtime_config.h"
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extern uint8_t motorCount;
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extern bool motorLimitReached;
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uint32_t targetPidLooptime;
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extern float errorLimiter;
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extern float angleRate[3], angleRateSmooth[2];
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int16_t axisPID[3];
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@ -61,13 +62,13 @@ int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
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// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
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uint8_t PIDweight[3];
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static int32_t errorGyroI[3], errorGyroILimit[3];
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static int32_t errorGyroI[3];
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#ifndef SKIP_PID_LUXFLOAT
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static float errorGyroIf[3], errorGyroIfLimit[3];
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static float errorGyroIf[3];
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#endif
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static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRateConfig_t *controlRateConfig,
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uint16_t max_angle_inclination, const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig);
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static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
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const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig);
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pidControllerFuncPtr pid_controller = pidMultiWiiRewrite; // which pid controller are we using, defaultMultiWii
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@ -75,38 +76,14 @@ void setTargetPidLooptime(uint8_t pidProcessDenom) {
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targetPidLooptime = targetLooptime * pidProcessDenom;
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}
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float calculateRate(int axis, const controlRateConfig_t *controlRateConfig) {
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float angleRate;
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if (isSuperExpoActive()) {
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float rcFactor = (axis == YAW) ? (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcYawRate8 / 100.0f))) : (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcRate8 / 100.0f)));
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rcFactor = 1.0f / (constrainf(1.0f - (rcFactor * (controlRateConfig->rates[axis] / 100.0f)), 0.01f, 1.00f));
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angleRate = rcFactor * ((27 * rcCommand[axis]) / 16.0f);
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} else {
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angleRate = (float)((controlRateConfig->rates[axis] + 27) * rcCommand[axis]) / 16.0f;
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}
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return constrainf(angleRate, -8190.0f, 8190.0f); // Rate limit protection
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}
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uint16_t getDynamicKp(int axis, const pidProfile_t *pidProfile) {
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uint16_t dynamicKp;
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uint32_t dynamicFactor = constrain(ABS(rcCommand[axis] << 8) / DYNAMIC_PTERM_STICK_THRESHOLD, 0, 1 << 7);
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dynamicKp = ((pidProfile->P8[axis] << 8) + (pidProfile->P8[axis] * dynamicFactor)) >> 8;
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return dynamicKp;
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}
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uint16_t getDynamicKi(int axis, const pidProfile_t *pidProfile) {
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uint16_t getDynamicKi(int axis, const pidProfile_t *pidProfile, int32_t angleRate) {
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uint16_t dynamicKi;
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uint16_t resetRate;
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resetRate = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
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uint32_t dynamicFactor = ((resetRate << 16) / (resetRate + ABS(gyroADC[axis]))) >> 8;
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uint16_t dynamicFactor = (1 << 8) - constrain((ABS(angleRate) << 6) / resetRate, 0, 1 << 8);
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dynamicKi = (pidProfile->I8[axis] * dynamicFactor) >> 8;
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return dynamicKi;
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@ -137,12 +114,12 @@ static filterStatePt1_t deltaFilterState[3];
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|||
static filterStatePt1_t yawFilterState;
|
||||
|
||||
#ifndef SKIP_PID_LUXFLOAT
|
||||
static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_t *controlRateConfig,
|
||||
uint16_t max_angle_inclination, const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
|
||||
static void pidLuxFloat(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
|
||||
const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
|
||||
{
|
||||
float RateError, AngleRate, gyroRate;
|
||||
float RateError, gyroRate, RateErrorSmooth;
|
||||
float ITerm,PTerm,DTerm;
|
||||
static float lastRate[3];
|
||||
static float lastRateError[2];
|
||||
float delta;
|
||||
int axis;
|
||||
float horizonLevelStrength = 1;
|
||||
|
|
@ -171,40 +148,43 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_
|
|||
// ----------PID controller----------
|
||||
for (axis = 0; axis < 3; axis++) {
|
||||
|
||||
// ACRO mode, control is GYRO based, direct sticks control is applied to rate PID
|
||||
AngleRate = calculateRate(axis, controlRateConfig);
|
||||
|
||||
// Yaw control is GYRO based, direct sticks control is applied to rate PID
|
||||
if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
|
||||
// calculate error angle and limit the angle to the max inclination
|
||||
#ifdef GPS
|
||||
const float errorAngle = (constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
|
||||
const float errorAngle = (constrain(2 * rcCommandSmooth[axis] + GPS_angle[axis], -((int) max_angle_inclination),
|
||||
+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]); // 16 bits is ok here
|
||||
#else
|
||||
const float errorAngle = (constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
|
||||
const float errorAngle = (constrain(2 * rcCommandSmooth[axis], -((int) max_angle_inclination),
|
||||
+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]); // 16 bits is ok here
|
||||
#endif
|
||||
if (FLIGHT_MODE(ANGLE_MODE)) {
|
||||
// ANGLE mode - control is angle based, so control loop is needed
|
||||
AngleRate = errorAngle * pidProfile->P8[PIDLEVEL] / 16.0f;
|
||||
angleRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 16.0f;
|
||||
} else {
|
||||
// HORIZON mode - direct sticks control is applied to rate PID
|
||||
// mix up angle error to desired AngleRate to add a little auto-level feel
|
||||
AngleRate += errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 16.0f;
|
||||
angleRate[axis] = angleRateSmooth[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 16.0f);
|
||||
}
|
||||
}
|
||||
|
||||
gyroRate = gyroADCf[axis] / 4.0f; // gyro output scaled to rewrite scale
|
||||
gyroRate = gyroADCf[axis] / 4.0f; // gyro output scaled to old rewrite scale
|
||||
|
||||
// --------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 = AngleRate - gyroRate;
|
||||
RateError = angleRate[axis] - gyroRate;
|
||||
|
||||
uint16_t kP = (pidProfile->dynamic_pid) ? getDynamicKp(axis, pidProfile) : pidProfile->P8[axis];
|
||||
// Smoothed Error for Derivative
|
||||
if (flightModeFlags && axis != YAW) {
|
||||
RateErrorSmooth = RateError;
|
||||
} else {
|
||||
RateErrorSmooth = angleRateSmooth[axis] - gyroRate;
|
||||
}
|
||||
|
||||
// -----calculate P component
|
||||
PTerm = luxPTermScale * RateError * kP * tpaFactor;
|
||||
PTerm = luxPTermScale * RateError * pidProfile->P8[axis] * tpaFactor;
|
||||
|
||||
// Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
|
||||
if((motorCount >= 4 && pidProfile->yaw_p_limit) && axis == YAW) {
|
||||
|
|
@ -212,15 +192,9 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_
|
|||
}
|
||||
|
||||
// -----calculate I component.
|
||||
uint16_t kI = (pidProfile->dynamic_pid) ? getDynamicKi(axis, pidProfile) : pidProfile->I8[axis];
|
||||
uint16_t kI = (pidProfile->dynamic_pid) ? getDynamicKi(axis, pidProfile, (int32_t)angleRate[axis]) : pidProfile->I8[axis];
|
||||
|
||||
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + luxITermScale * RateError * getdT() * kI, -250.0f, 250.0f);
|
||||
|
||||
if (motorLimitReached) {
|
||||
errorGyroIf[axis] = constrainf(errorGyroIf[axis], -errorGyroIfLimit[axis], errorGyroIfLimit[axis]);
|
||||
} else {
|
||||
errorGyroIfLimit[axis] = ABS(errorGyroIf[axis]);
|
||||
}
|
||||
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + luxITermScale * errorLimiter * RateError * getdT() * kI, -250.0f, 250.0f);
|
||||
|
||||
// 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
|
||||
|
|
@ -241,8 +215,8 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_
|
|||
|
||||
DTerm = 0.0f; // needed for blackbox
|
||||
} else {
|
||||
delta = -(gyroRate - lastRate[axis]);
|
||||
lastRate[axis] = gyroRate;
|
||||
delta = RateErrorSmooth - lastRateError[axis];
|
||||
lastRateError[axis] = RateErrorSmooth;
|
||||
|
||||
// Divide delta by targetLooptime to get differential (ie dr/dt)
|
||||
delta *= (1.0f / getdT());
|
||||
|
|
@ -271,13 +245,13 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_
|
|||
}
|
||||
#endif
|
||||
|
||||
static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
|
||||
static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
|
||||
const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
|
||||
{
|
||||
int axis;
|
||||
int32_t PTerm, ITerm, DTerm, delta;
|
||||
static int32_t lastRate[3];
|
||||
int32_t AngleRateTmp, RateError, gyroRate;
|
||||
static int32_t lastRateError[3];
|
||||
int32_t AngleRateTmp, AngleRateTmpSmooth, RateError, gyroRate, RateErrorSmooth;
|
||||
|
||||
int8_t horizonLevelStrength = 100;
|
||||
|
||||
|
|
@ -297,15 +271,16 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
|
|||
for (axis = 0; axis < 3; axis++) {
|
||||
|
||||
// -----Get the desired angle rate depending on flight mode
|
||||
AngleRateTmp = (int32_t)calculateRate(axis, controlRateConfig);
|
||||
AngleRateTmp = (int32_t)angleRate[axis];
|
||||
if (axis != YAW) AngleRateTmpSmooth = (int32_t)angleRateSmooth[axis];
|
||||
|
||||
if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
|
||||
// calculate error angle and limit the angle to max configured inclination
|
||||
#ifdef GPS
|
||||
const int32_t errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
|
||||
const int32_t errorAngle = constrain(2 * rcCommandSmooth[axis] + GPS_angle[axis], -((int) max_angle_inclination),
|
||||
+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis];
|
||||
#else
|
||||
const int32_t errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
|
||||
const int32_t errorAngle = constrain(2 * rcCommandSmooth[axis], -((int) max_angle_inclination),
|
||||
+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis];
|
||||
#endif
|
||||
if (FLIGHT_MODE(ANGLE_MODE)) {
|
||||
|
|
@ -314,7 +289,7 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
|
|||
} else {
|
||||
// HORIZON mode - mix up angle error to desired AngleRateTmp to add a little auto-level feel,
|
||||
// horizonLevelStrength is scaled to the stick input
|
||||
AngleRateTmp += (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 100) >> 4;
|
||||
AngleRateTmp = AngleRateTmpSmooth + ((errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 100) >> 4);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -323,12 +298,18 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
|
|||
// -----calculate scaled error.AngleRates
|
||||
// multiplication of rcCommand corresponds to changing the sticks scaling here
|
||||
gyroRate = gyroADC[axis] / 4;
|
||||
|
||||
RateError = AngleRateTmp - gyroRate;
|
||||
|
||||
uint16_t kP = (pidProfile->dynamic_pid) ? getDynamicKp(axis, pidProfile) : pidProfile->P8[axis];
|
||||
// Smoothed Error for Derivative
|
||||
if (flightModeFlags && axis != YAW) {
|
||||
RateErrorSmooth = RateError;
|
||||
} else {
|
||||
RateErrorSmooth = AngleRateTmpSmooth - gyroRate;
|
||||
}
|
||||
|
||||
// -----calculate P component
|
||||
PTerm = (RateError * kP * PIDweight[axis] / 100) >> 7;
|
||||
PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
|
||||
|
||||
// Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
|
||||
if((motorCount >= 4 && pidProfile->yaw_p_limit) && axis == YAW) {
|
||||
|
|
@ -340,20 +321,16 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
|
|||
// 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.
|
||||
uint16_t kI = (pidProfile->dynamic_pid) ? getDynamicKi(axis, pidProfile) : pidProfile->I8[axis];
|
||||
uint16_t kI = (pidProfile->dynamic_pid) ? getDynamicKi(axis, pidProfile, AngleRateTmp) : pidProfile->I8[axis];
|
||||
|
||||
errorGyroI[axis] = errorGyroI[axis] + ((RateError * (uint16_t)targetPidLooptime) >> 11) * kI;
|
||||
int32_t rateErrorLimited = errorLimiter * RateError;
|
||||
|
||||
errorGyroI[axis] = errorGyroI[axis] + ((rateErrorLimited * (uint16_t)targetPidLooptime) >> 11) * kI;
|
||||
|
||||
// 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);
|
||||
|
||||
if (motorLimitReached) {
|
||||
errorGyroI[axis] = constrain(errorGyroI[axis], -errorGyroILimit[axis], errorGyroILimit[axis]);
|
||||
} else {
|
||||
errorGyroILimit[axis] = ABS(errorGyroI[axis]);
|
||||
}
|
||||
|
||||
ITerm = errorGyroI[axis] >> 13;
|
||||
|
||||
//-----calculate D-term
|
||||
|
|
@ -371,8 +348,8 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
|
|||
|
||||
DTerm = 0; // needed for blackbox
|
||||
} else {
|
||||
delta = -(gyroRate - lastRate[axis]);
|
||||
lastRate[axis] = gyroRate;
|
||||
delta = RateErrorSmooth - lastRateError[axis];
|
||||
lastRateError[axis] = RateErrorSmooth;
|
||||
|
||||
// Divide delta by targetLooptime to get differential (ie dr/dt)
|
||||
delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetPidLooptime >> 4))) >> 5;
|
||||
|
|
|
|||
|
|
@ -86,8 +86,8 @@ typedef struct pidProfile_s {
|
|||
struct controlRateConfig_s;
|
||||
union rollAndPitchTrims_u;
|
||||
struct rxConfig_s;
|
||||
typedef void (*pidControllerFuncPtr)(const pidProfile_t *pidProfile, const struct controlRateConfig_s *controlRateConfig,
|
||||
uint16_t max_angle_inclination, const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig); // pid controller function prototype
|
||||
typedef void (*pidControllerFuncPtr)(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
|
||||
const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig); // pid controller function prototype
|
||||
|
||||
extern int16_t axisPID[XYZ_AXIS_COUNT];
|
||||
extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
|
||||
|
|
|
|||
|
|
@ -68,6 +68,7 @@ static pidProfile_t *pidProfile;
|
|||
static bool isUsingSticksToArm = true;
|
||||
|
||||
int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
|
||||
int16_t rcCommandSmooth[4];
|
||||
|
||||
uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e
|
||||
|
||||
|
|
|
|||
|
|
@ -147,6 +147,7 @@ typedef struct controlRateConfig_s {
|
|||
} controlRateConfig_t;
|
||||
|
||||
extern int16_t rcCommand[4];
|
||||
extern int16_t rcCommandSmooth[4];
|
||||
|
||||
typedef struct rcControlsConfig_s {
|
||||
uint8_t deadband; // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
|
||||
|
|
|
|||
|
|
@ -301,8 +301,8 @@ const clicmd_t cmdTable[] = {
|
|||
"[<index>]\r\n", cliPlaySound),
|
||||
CLI_COMMAND_DEF("profile", "change profile",
|
||||
"[<index>]", cliProfile),
|
||||
CLI_COMMAND_DEF("rateprofile", "change rate profile", "[<index>]", cliRateProfile),
|
||||
CLI_COMMAND_DEF("resource", "view currently used resources", NULL, cliResource),
|
||||
CLI_COMMAND_DEF("rateprofile", "change rate profile", "[<index>]", cliRateProfile),
|
||||
CLI_COMMAND_DEF("resource", "view currently used resources", NULL, cliResource),
|
||||
CLI_COMMAND_DEF("rxrange", "configure rx channel ranges", NULL, cliRxRange),
|
||||
CLI_COMMAND_DEF("rxfail", "show/set rx failsafe settings", NULL, cliRxFail),
|
||||
CLI_COMMAND_DEF("save", "save and reboot", NULL, cliSave),
|
||||
|
|
@ -413,20 +413,20 @@ static const char * const lookupTableGyroLpf[] = {
|
|||
};
|
||||
|
||||
static const char * const lookupTableAccHardware[] = {
|
||||
"AUTO",
|
||||
"NONE",
|
||||
"ADXL345",
|
||||
"MPU6050",
|
||||
"MMA8452",
|
||||
"BMA280",
|
||||
"LSM303DLHC",
|
||||
"MPU6000",
|
||||
"MPU6500",
|
||||
"FAKE"
|
||||
"AUTO",
|
||||
"NONE",
|
||||
"ADXL345",
|
||||
"MPU6050",
|
||||
"MMA8452",
|
||||
"BMA280",
|
||||
"LSM303DLHC",
|
||||
"MPU6000",
|
||||
"MPU6500",
|
||||
"FAKE"
|
||||
};
|
||||
|
||||
static const char * const lookupTableBaroHardware[] = {
|
||||
"AUTO",
|
||||
"AUTO",
|
||||
"NONE",
|
||||
"BMP085",
|
||||
"MS5611",
|
||||
|
|
@ -491,7 +491,7 @@ typedef enum {
|
|||
TABLE_ACC_HARDWARE,
|
||||
TABLE_BARO_HARDWARE,
|
||||
TABLE_MAG_HARDWARE,
|
||||
TABLE_DEBUG,
|
||||
TABLE_DEBUG,
|
||||
TABLE_SUPEREXPO_YAW,
|
||||
TABLE_MOTOR_PWM_PROTOCOL,
|
||||
#ifdef OSD
|
||||
|
|
@ -542,7 +542,7 @@ typedef enum {
|
|||
// value section
|
||||
MASTER_VALUE = (0 << VALUE_SECTION_OFFSET),
|
||||
PROFILE_VALUE = (1 << VALUE_SECTION_OFFSET),
|
||||
PROFILE_RATE_VALUE = (2 << VALUE_SECTION_OFFSET),
|
||||
PROFILE_RATE_VALUE = (2 << VALUE_SECTION_OFFSET),
|
||||
// value mode
|
||||
MODE_DIRECT = (0 << VALUE_MODE_OFFSET),
|
||||
MODE_LOOKUP = (1 << VALUE_MODE_OFFSET)
|
||||
|
|
@ -584,7 +584,6 @@ const clivalue_t valueTable[] = {
|
|||
{ "rssi_scale", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_scale, .config.minmax = { RSSI_SCALE_MIN, RSSI_SCALE_MAX } },
|
||||
{ "rssi_ppm_invert", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.rssi_ppm_invert, .config.lookup = { TABLE_OFF_ON } },
|
||||
{ "input_filtering_mode", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.inputFilteringMode, .config.lookup = { TABLE_OFF_ON } },
|
||||
{ "rc_smoothing", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.rcSmoothing, .config.lookup = { TABLE_OFF_ON } },
|
||||
{ "roll_yaw_cam_mix_degrees", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.fpvCamAngleDegrees, .config.minmax = { 0, 50 } },
|
||||
{ "max_aux_channels", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.max_aux_channel, .config.minmax = { 0, 13 } },
|
||||
{ "debug_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.debug_mode, .config.lookup = { TABLE_DEBUG } },
|
||||
|
|
@ -603,8 +602,9 @@ const clivalue_t valueTable[] = {
|
|||
#ifdef CC3D
|
||||
{ "enable_buzzer_p6", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_buzzer_p6, .config.lookup = { TABLE_OFF_ON } },
|
||||
#endif
|
||||
{ "use_unsynced_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_unsyncedPwm, .config.lookup = { TABLE_OFF_ON } },
|
||||
{ "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.motor_pwm_protocol, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL } },
|
||||
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motor_pwm_rate, .config.minmax = { 0, 32000 } },
|
||||
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motor_pwm_rate, .config.minmax = { 200, 32000 } },
|
||||
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servo_pwm_rate, .config.minmax = { 50, 498 } },
|
||||
|
||||
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },
|
||||
|
|
@ -755,9 +755,9 @@ const clivalue_t valueTable[] = {
|
|||
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } },
|
||||
{ "mag_declination", VAR_INT16 | MASTER_VALUE, &masterConfig.mag_declination, .config.minmax = { -18000, 18000 } },
|
||||
{ "dterm_lowpass", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
|
||||
{ "dynamic_pid", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dynamic_pid, .config.lookup = { TABLE_OFF_ON } },
|
||||
{ "iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {50, 1000 } },
|
||||
{ "yaw_iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {25, 1000 } },
|
||||
{ "dynamic_iterm", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dynamic_pid, .config.lookup = { TABLE_OFF_ON } },
|
||||
{ "iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
|
||||
{ "yaw_iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },
|
||||
{ "yaw_lowpass", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
|
||||
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.pid_process_denom, .config.minmax = { 1, 8 } },
|
||||
|
||||
|
|
@ -2122,10 +2122,9 @@ static void cliDump(char *cmdline)
|
|||
cliDumpProfile(masterConfig.current_profile_index);
|
||||
}
|
||||
|
||||
if (dumpMask & DUMP_RATES) {
|
||||
if (dumpMask & DUMP_RATES) {
|
||||
cliDumpRateProfile(currentProfile->activeRateProfile);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void cliDumpProfile(uint8_t profileIndex) {
|
||||
|
|
@ -2148,9 +2147,9 @@ void cliDumpRateProfile(uint8_t rateProfileIndex) {
|
|||
return;
|
||||
|
||||
changeControlRateProfile(rateProfileIndex);
|
||||
cliPrint("\r\n# rateprofile\r\n");
|
||||
cliRateProfile("");
|
||||
printSectionBreak();
|
||||
cliPrint("\r\n# rateprofile\r\n");
|
||||
cliRateProfile("");
|
||||
printSectionBreak();
|
||||
|
||||
dumpValues(PROFILE_RATE_VALUE);
|
||||
}
|
||||
|
|
@ -2267,11 +2266,11 @@ static void cliBeeper(char *cmdline)
|
|||
if (len == 0) {
|
||||
cliPrintf("Disabled:");
|
||||
for (int i = 0; ; i++) {
|
||||
if (i == beeperCount-2){
|
||||
if (i == beeperCount-2){
|
||||
if (mask == 0)
|
||||
cliPrint(" none");
|
||||
break;
|
||||
}
|
||||
cliPrint(" none");
|
||||
break;
|
||||
}
|
||||
if (mask & (1 << i))
|
||||
cliPrintf(" %s", beeperNameForTableIndex(i));
|
||||
}
|
||||
|
|
@ -2300,7 +2299,7 @@ static void cliBeeper(char *cmdline)
|
|||
if (i == BEEPER_ALL-1)
|
||||
beeperOffSetAll(beeperCount-2);
|
||||
else
|
||||
if (i == BEEPER_PREFERENCE-1)
|
||||
if (i == BEEPER_PREFERENCE-1)
|
||||
setBeeperOffMask(getPreferredBeeperOffMask());
|
||||
else {
|
||||
mask = 1 << i;
|
||||
|
|
@ -2312,7 +2311,7 @@ static void cliBeeper(char *cmdline)
|
|||
if (i == BEEPER_ALL-1)
|
||||
beeperOffClearAll();
|
||||
else
|
||||
if (i == BEEPER_PREFERENCE-1)
|
||||
if (i == BEEPER_PREFERENCE-1)
|
||||
setPreferredBeeperOffMask(getBeeperOffMask());
|
||||
else {
|
||||
mask = 1 << i;
|
||||
|
|
@ -2521,19 +2520,19 @@ static void cliProfile(char *cmdline)
|
|||
}
|
||||
}
|
||||
|
||||
static void cliRateProfile(char *cmdline) {
|
||||
int i;
|
||||
|
||||
if (isEmpty(cmdline)) {
|
||||
cliPrintf("rateprofile %d\r\n", getCurrentControlRateProfile());
|
||||
return;
|
||||
} else {
|
||||
i = atoi(cmdline);
|
||||
if (i >= 0 && i < MAX_RATEPROFILES) {
|
||||
changeControlRateProfile(i);
|
||||
cliRateProfile("");
|
||||
}
|
||||
}
|
||||
static void cliRateProfile(char *cmdline) {
|
||||
int i;
|
||||
|
||||
if (isEmpty(cmdline)) {
|
||||
cliPrintf("rateprofile %d\r\n", getCurrentControlRateProfile());
|
||||
return;
|
||||
} else {
|
||||
i = atoi(cmdline);
|
||||
if (i >= 0 && i < MAX_RATEPROFILES) {
|
||||
changeControlRateProfile(i);
|
||||
cliRateProfile("");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void cliReboot(void) {
|
||||
|
|
@ -2598,9 +2597,9 @@ static void cliPrintVar(const clivalue_t *var, uint32_t full)
|
|||
ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index);
|
||||
}
|
||||
|
||||
if ((var->type & VALUE_SECTION_MASK) == PROFILE_RATE_VALUE) {
|
||||
ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile());
|
||||
}
|
||||
if ((var->type & VALUE_SECTION_MASK) == PROFILE_RATE_VALUE) {
|
||||
ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile());
|
||||
}
|
||||
|
||||
switch (var->type & VALUE_TYPE_MASK) {
|
||||
case VAR_UINT8:
|
||||
|
|
@ -2671,9 +2670,9 @@ static void cliSetVar(const clivalue_t *var, const int_float_value_t value)
|
|||
if ((var->type & VALUE_SECTION_MASK) == PROFILE_VALUE) {
|
||||
ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index);
|
||||
}
|
||||
if ((var->type & VALUE_SECTION_MASK) == PROFILE_RATE_VALUE) {
|
||||
ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile());
|
||||
}
|
||||
if ((var->type & VALUE_SECTION_MASK) == PROFILE_RATE_VALUE) {
|
||||
ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile());
|
||||
}
|
||||
|
||||
switch (var->type & VALUE_TYPE_MASK) {
|
||||
case VAR_UINT8:
|
||||
|
|
@ -2734,7 +2733,7 @@ static void cliSet(char *cmdline)
|
|||
if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0 && variableNameLength == strlen(valueTable[i].name)) {
|
||||
|
||||
bool changeValue = false;
|
||||
int_float_value_t tmp = { 0 };
|
||||
int_float_value_t tmp = { 0 };
|
||||
switch (valueTable[i].type & VALUE_MODE_MASK) {
|
||||
case MODE_DIRECT: {
|
||||
int32_t value = 0;
|
||||
|
|
@ -2810,7 +2809,7 @@ static void cliGet(char *cmdline)
|
|||
|
||||
|
||||
if (matchedCommands) {
|
||||
return;
|
||||
return;
|
||||
}
|
||||
|
||||
cliPrint("Invalid name\r\n");
|
||||
|
|
|
|||
|
|
@ -1257,6 +1257,36 @@ static bool processOutCommand(uint8_t cmdMSP)
|
|||
serialize8(masterConfig.sensorAlignmentConfig.acc_align);
|
||||
serialize8(masterConfig.sensorAlignmentConfig.mag_align);
|
||||
break;
|
||||
case MSP_PID_ADVANCED_CONFIG :
|
||||
headSerialReply(6);
|
||||
serialize8(masterConfig.gyro_sync_denom);
|
||||
serialize8(masterConfig.pid_process_denom);
|
||||
serialize8(masterConfig.use_unsyncedPwm);
|
||||
serialize8(masterConfig.motor_pwm_protocol);
|
||||
serialize16(masterConfig.motor_pwm_rate);
|
||||
break;
|
||||
case MSP_FILTER_CONFIG :
|
||||
headSerialReply(5);
|
||||
serialize8(masterConfig.gyro_soft_lpf_hz);
|
||||
serialize16(currentProfile->pidProfile.dterm_lpf_hz);
|
||||
serialize16(currentProfile->pidProfile.yaw_lpf_hz);
|
||||
break;
|
||||
case MSP_ADVANCED_TUNING:
|
||||
headSerialReply(3 * 2);
|
||||
serialize16(currentProfile->pidProfile.rollPitchItermIgnoreRate);
|
||||
serialize16(currentProfile->pidProfile.yawItermIgnoreRate);
|
||||
serialize16(currentProfile->pidProfile.yaw_p_limit);
|
||||
break;
|
||||
case MSP_TEMPORARY_COMMANDS:
|
||||
headSerialReply(1);
|
||||
serialize8(currentControlRateProfile->rcYawRate8);
|
||||
break;
|
||||
case MSP_SENSOR_CONFIG:
|
||||
headSerialReply(3);
|
||||
serialize8(masterConfig.acc_hardware);
|
||||
serialize8(masterConfig.baro_hardware);
|
||||
serialize8(masterConfig.mag_hardware);
|
||||
break;
|
||||
|
||||
default:
|
||||
return false;
|
||||
|
|
@ -1803,6 +1833,32 @@ static bool processInCommand(void)
|
|||
// proceed as usual with MSP commands
|
||||
break;
|
||||
#endif
|
||||
|
||||
case MSP_SET_PID_ADVANCED_CONFIG :
|
||||
masterConfig.gyro_sync_denom = read8();
|
||||
masterConfig.pid_process_denom = read8();
|
||||
masterConfig.use_unsyncedPwm = read8();
|
||||
masterConfig.motor_pwm_protocol = read8();
|
||||
masterConfig.motor_pwm_rate = read16();
|
||||
break;
|
||||
case MSP_SET_FILTER_CONFIG :
|
||||
masterConfig.gyro_soft_lpf_hz = read8();
|
||||
currentProfile->pidProfile.dterm_lpf_hz = read16();
|
||||
currentProfile->pidProfile.yaw_lpf_hz = read16();
|
||||
break;
|
||||
case MSP_SET_ADVANCED_TUNING:
|
||||
currentProfile->pidProfile.rollPitchItermIgnoreRate = read16();
|
||||
currentProfile->pidProfile.yawItermIgnoreRate = read16();
|
||||
currentProfile->pidProfile.yaw_p_limit = read16();
|
||||
break;
|
||||
case MSP_SET_TEMPORARY_COMMANDS:
|
||||
currentControlRateProfile->rcYawRate8 = read8();
|
||||
break;
|
||||
case MSP_SET_SENSOR_CONFIG:
|
||||
masterConfig.acc_hardware = read8();
|
||||
masterConfig.baro_hardware = read8();
|
||||
masterConfig.mag_hardware = read8();
|
||||
break;
|
||||
default:
|
||||
// we do not know how to handle the (valid) message, indicate error MSP $M!
|
||||
return false;
|
||||
|
|
|
|||
|
|
@ -193,6 +193,22 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
|
|||
// DEPRECATED - Use MSP_BUILD_INFO instead
|
||||
#define MSP_BF_BUILD_INFO 69 //out message build date as well as some space for future expansion
|
||||
|
||||
// Betaflight Additional Commands
|
||||
#define MSP_PID_ADVANCED_CONFIG 90
|
||||
#define MSP_SET_PID_ADVANCED_CONFIG 91
|
||||
|
||||
#define MSP_FILTER_CONFIG 92
|
||||
#define MSP_SET_FILTER_CONFIG 93
|
||||
|
||||
#define MSP_ADVANCED_TUNING 94
|
||||
#define MSP_SET_ADVANCED_TUNING 95
|
||||
|
||||
#define MSP_SENSOR_CONFIG 96
|
||||
#define MSP_SET_SENSOR_CONFIG 97
|
||||
|
||||
#define MSP_TEMPORARY_COMMANDS 98 // Temporary Commands before cleanup
|
||||
#define MSP_SET_TEMPORARY_COMMANDS 99 // Temporary Commands before cleanup
|
||||
|
||||
//
|
||||
// Multwii original MSP commands
|
||||
//
|
||||
|
|
|
|||
|
|
@ -129,7 +129,7 @@ void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers, servoMixe
|
|||
#else
|
||||
void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers);
|
||||
#endif
|
||||
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration);
|
||||
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration, bool use_unsyncedPwm);
|
||||
void rxInit(rxConfig_t *rxConfig, modeActivationCondition_t *modeActivationConditions);
|
||||
void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig);
|
||||
void navigationInit(gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
|
||||
|
|
@ -319,6 +319,8 @@ void init(void)
|
|||
featureClear(FEATURE_ONESHOT125);
|
||||
}
|
||||
|
||||
bool use_unsyncedPwm = masterConfig.use_unsyncedPwm;
|
||||
|
||||
// Configurator feature abused for enabling Fast PWM
|
||||
pwm_params.useFastPwm = (masterConfig.motor_pwm_protocol != PWM_TYPE_CONVENTIONAL && masterConfig.motor_pwm_protocol != PWM_TYPE_BRUSHED);
|
||||
pwm_params.pwmProtocolType = masterConfig.motor_pwm_protocol;
|
||||
|
|
@ -326,8 +328,10 @@ void init(void)
|
|||
pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
|
||||
if (feature(FEATURE_3D))
|
||||
pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
|
||||
if (masterConfig.motor_pwm_protocol == PWM_TYPE_BRUSHED)
|
||||
if (masterConfig.motor_pwm_protocol == PWM_TYPE_BRUSHED) {
|
||||
pwm_params.idlePulse = 0; // brushed motors
|
||||
use_unsyncedPwm = false;
|
||||
}
|
||||
#ifdef CC3D
|
||||
pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;
|
||||
#endif
|
||||
|
|
@ -335,8 +339,7 @@ void init(void)
|
|||
|
||||
pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);
|
||||
|
||||
syncMotors(pwm_params.motorPwmRate == 0 && pwm_params.motorPwmRate != PWM_TYPE_BRUSHED);
|
||||
mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
|
||||
mixerUsePWMOutputConfiguration(pwmOutputConfiguration, use_unsyncedPwm);
|
||||
|
||||
if (!feature(FEATURE_ONESHOT125))
|
||||
motorControlEnable = true;
|
||||
|
|
|
|||
|
|
@ -123,6 +123,7 @@ extern uint8_t PIDweight[3];
|
|||
uint16_t filteredCycleTime;
|
||||
static bool isRXDataNew;
|
||||
static bool armingCalibrationWasInitialised;
|
||||
float angleRate[3], angleRateSmooth[2];
|
||||
|
||||
extern pidControllerFuncPtr pid_controller;
|
||||
|
||||
|
|
@ -171,12 +172,29 @@ bool isCalibrating()
|
|||
return (!isAccelerationCalibrationComplete() && sensors(SENSOR_ACC)) || (!isGyroCalibrationComplete());
|
||||
}
|
||||
|
||||
void filterRc(void)
|
||||
float calculateRate(int axis, int16_t rc) {
|
||||
float angleRate;
|
||||
|
||||
if (isSuperExpoActive()) {
|
||||
float rcFactor = (axis == YAW) ? (ABS(rc) / (500.0f * (currentControlRateProfile->rcYawRate8 / 100.0f))) : (ABS(rc) / (500.0f * (currentControlRateProfile->rcRate8 / 100.0f)));
|
||||
rcFactor = 1.0f / (constrainf(1.0f - (rcFactor * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f));
|
||||
|
||||
angleRate = rcFactor * ((27 * rc) / 16.0f);
|
||||
} else {
|
||||
angleRate = (float)((currentControlRateProfile->rates[axis] + 27) * rc) / 16.0f;
|
||||
}
|
||||
|
||||
|
||||
return constrainf(angleRate, -8190.0f, 8190.0f); // Rate limit protection
|
||||
}
|
||||
|
||||
void processRcCommand(void)
|
||||
{
|
||||
static int16_t lastCommand[4] = { 0, 0, 0, 0 };
|
||||
static int16_t deltaRC[4] = { 0, 0, 0, 0 };
|
||||
static int16_t factor, rcInterpolationFactor;
|
||||
uint16_t rxRefreshRate;
|
||||
int axis;
|
||||
|
||||
// Set RC refresh rate for sampling and channels to filter
|
||||
initRxRefreshRate(&rxRefreshRate);
|
||||
|
|
@ -184,6 +202,8 @@ void filterRc(void)
|
|||
rcInterpolationFactor = rxRefreshRate / targetPidLooptime + 1;
|
||||
|
||||
if (isRXDataNew) {
|
||||
for (axis = 0; axis < 3; axis++) angleRate[axis] = calculateRate(axis, rcCommand[axis]);
|
||||
|
||||
for (int channel=0; channel < 4; channel++) {
|
||||
deltaRC[channel] = rcCommand[channel] - (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
|
||||
lastCommand[channel] = rcCommand[channel];
|
||||
|
|
@ -198,8 +218,9 @@ void filterRc(void)
|
|||
// Interpolate steps of rcCommand
|
||||
if (factor > 0) {
|
||||
for (int channel=0; channel < 4; channel++) {
|
||||
rcCommand[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
|
||||
}
|
||||
rcCommandSmooth[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
|
||||
}
|
||||
for (axis = 0; axis < 2; axis++) angleRateSmooth[axis] = calculateRate(axis, rcCommandSmooth[axis]);
|
||||
} else {
|
||||
factor = 0;
|
||||
}
|
||||
|
|
@ -644,7 +665,6 @@ void subTaskPidController(void)
|
|||
// PID - note this is function pointer set by setPIDController()
|
||||
pid_controller(
|
||||
¤tProfile->pidProfile,
|
||||
currentControlRateProfile,
|
||||
masterConfig.max_angle_inclination,
|
||||
&masterConfig.accelerometerTrims,
|
||||
&masterConfig.rxConfig
|
||||
|
|
@ -656,9 +676,7 @@ void subTaskMainSubprocesses(void) {
|
|||
|
||||
const uint32_t startTime = micros();
|
||||
|
||||
if (masterConfig.rxConfig.rcSmoothing || flightModeFlags) {
|
||||
filterRc();
|
||||
}
|
||||
processRcCommand();
|
||||
|
||||
// Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.
|
||||
if (gyro.temperature) {
|
||||
|
|
@ -696,7 +714,8 @@ void subTaskMainSubprocesses(void) {
|
|||
&& masterConfig.mixerMode != MIXER_FLYING_WING
|
||||
#endif
|
||||
) {
|
||||
rcCommand[YAW] = 0;
|
||||
rcCommand[YAW] = rcCommandSmooth[YAW] = 0;
|
||||
angleRate[YAW] = angleRateSmooth[YAW] = 0;
|
||||
}
|
||||
|
||||
if (masterConfig.throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue