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https://github.com/betaflight/betaflight.git
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Remove Legacy Pid Controller
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borisbstyle
parent
8cf52c80c2
commit
5e3c974d64
12 changed files with 196 additions and 552 deletions
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@ -47,6 +47,9 @@
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#include "fc/runtime_config.h"
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extern float rcInput[3];
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extern float setpointRate[3];
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uint32_t targetPidLooptime;
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bool pidStabilisationEnabled;
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uint8_t PIDweight[3];
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@ -63,11 +66,7 @@ int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
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int32_t errorGyroI[3];
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float errorGyroIf[3];
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#ifdef SKIP_PID_FLOAT
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pidControllerFuncPtr pid_controller = pidLegacy; // which pid controller are we using
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#else
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pidControllerFuncPtr pid_controller = pidBetaflight; // which pid controller are we using
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#endif
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pidControllerFuncPtr pid_controller; // which pid controller are we using
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void setTargetPidLooptime(uint32_t pidLooptime)
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{
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@ -127,16 +126,192 @@ void initFilters(const pidProfile_t *pidProfile) {
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}
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}
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void pidSetController(pidControllerType_e type)
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// Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage.
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// Based on 2DOF reference design (matlab)
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void pidController(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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{
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switch (type) {
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default:
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case PID_CONTROLLER_LEGACY:
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pid_controller = pidLegacy;
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break;
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#ifndef SKIP_PID_FLOAT
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case PID_CONTROLLER_BETAFLIGHT:
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pid_controller = pidBetaflight;
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float errorRate = 0, rD = 0, PVRate = 0, dynC;
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float ITerm,PTerm,DTerm;
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static float lastRateError[2];
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static float Kp[3], Ki[3], Kd[3], c[3], rollPitchMaxVelocity, yawMaxVelocity, previousSetpoint[3], relaxFactor[3];
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float delta;
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int axis;
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float horizonLevelStrength = 1;
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float tpaFactor = PIDweight[0] / 100.0f; // tpa is now float
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initFilters(pidProfile);
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if (FLIGHT_MODE(HORIZON_MODE)) {
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// Figure out the raw stick positions
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const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig->midrc));
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const int32_t stickPosEle = ABS(getRcStickDeflection(FD_PITCH, rxConfig->midrc));
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const int32_t mostDeflectedPos = MAX(stickPosAil, stickPosEle);
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// Progressively turn off the horizon self level strength as the stick is banged over
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horizonLevelStrength = (float)(500 - mostDeflectedPos) / 500; // 1 at centre stick, 0 = max stick deflection
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if(pidProfile->D8[PIDLEVEL] == 0){
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horizonLevelStrength = 0;
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} else {
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horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (100 / pidProfile->D8[PIDLEVEL])) + 1, 0, 1);
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}
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}
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// Yet Highly experimental and under test and development
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// Throttle coupled to Igain like inverted TPA // 50hz calculation (should cover all rx protocols)
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static float kiThrottleGain = 1.0f;
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if (pidProfile->itermThrottleGain) {
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const uint16_t maxLoopCount = 20000 / targetPidLooptime;
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const float throttleItermGain = (float)pidProfile->itermThrottleGain * 0.001f;
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static int16_t previousThrottle;
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static uint16_t loopIncrement;
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if (loopIncrement >= maxLoopCount) {
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kiThrottleGain = 1.0f + constrainf((float)(ABS(rcCommand[THROTTLE] - previousThrottle)) * throttleItermGain, 0.0f, 5.0f); // Limit to factor 5
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previousThrottle = rcCommand[THROTTLE];
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loopIncrement = 0;
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} else {
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loopIncrement++;
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}
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}
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// ----------PID controller----------
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for (axis = 0; axis < 3; axis++) {
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static uint8_t configP[3], configI[3], configD[3];
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// Prevent unnecessary computing and check for changed PIDs. No need for individual checks. Only pids is fine for now
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// Prepare all parameters for PID controller
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if ((pidProfile->P8[axis] != configP[axis]) || (pidProfile->I8[axis] != configI[axis]) || (pidProfile->D8[axis] != configD[axis])) {
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Kp[axis] = PTERM_SCALE * pidProfile->P8[axis];
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Ki[axis] = ITERM_SCALE * pidProfile->I8[axis];
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Kd[axis] = DTERM_SCALE * pidProfile->D8[axis];
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c[axis] = pidProfile->dtermSetpointWeight / 100.0f;
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relaxFactor[axis] = 1.0f - (pidProfile->setpointRelaxRatio / 100.0f);
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yawMaxVelocity = pidProfile->yawRateAccelLimit * 1000 * getdT();
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rollPitchMaxVelocity = pidProfile->rateAccelLimit * 1000 * getdT();
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configP[axis] = pidProfile->P8[axis];
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configI[axis] = pidProfile->I8[axis];
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configD[axis] = pidProfile->D8[axis];
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}
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// Limit abrupt yaw inputs / stops
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float maxVelocity = (axis == YAW) ? yawMaxVelocity : rollPitchMaxVelocity;
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if (maxVelocity) {
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float currentVelocity = setpointRate[axis] - previousSetpoint[axis];
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if (ABS(currentVelocity) > maxVelocity) {
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setpointRate[axis] = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity : previousSetpoint[axis] - maxVelocity;
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}
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previousSetpoint[axis] = setpointRate[axis];
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}
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// Yaw control is GYRO based, direct sticks control is applied to rate PID
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if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
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// calculate error angle and limit the angle to the max inclination
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#ifdef GPS
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const float errorAngle = (constrainf(pidProfile->levelSensitivity * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
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#else
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const float errorAngle = (constrainf(pidProfile->levelSensitivity * rcCommand[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
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#endif
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if (FLIGHT_MODE(ANGLE_MODE)) {
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// ANGLE mode - control is angle based, so control loop is needed
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setpointRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 10.0f;
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} else {
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// HORIZON mode - direct sticks control is applied to rate PID
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// mix up angle error to desired AngleRate to add a little auto-level feel
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setpointRate[axis] = setpointRate[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 10.0f);
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}
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}
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PVRate = gyroADCf[axis] / 16.4f; // Process variable from gyro output in deg/sec
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// --------low-level gyro-based PID based on 2DOF PID controller. ----------
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// ---------- 2-DOF PID controller with optional filter on derivative term. b = 1 and only c can be tuned (amount derivative on measurement or error). ----------
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// Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
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// ----- calculate error / angle rates ----------
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errorRate = setpointRate[axis] - PVRate; // r - y
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// -----calculate P component and add Dynamic Part based on stick input
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PTerm = Kp[axis] * errorRate * tpaFactor;
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// -----calculate I component.
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// Reduce strong Iterm accumulation during higher stick inputs
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float accumulationThreshold = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
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float setpointRateScaler = constrainf(1.0f - (ABS(setpointRate[axis]) / accumulationThreshold), 0.0f, 1.0f);
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// Handle All windup Scenarios
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// limit maximum integrator value to prevent WindUp
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float itermScaler = setpointRateScaler * kiThrottleGain;
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errorGyroIf[axis] = constrainf(errorGyroIf[axis] + Ki[axis] * errorRate * getdT() * itermScaler, -250.0f, 250.0f);
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// I coefficient (I8) moved before integration to make limiting independent from PID settings
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ITerm = errorGyroIf[axis];
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//-----calculate D-term (Yaw D not yet supported)
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if (axis != YAW) {
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static float previousSetpoint[3];
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dynC = c[axis];
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if (pidProfile->setpointRelaxRatio < 100) {
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dynC = c[axis];
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if (setpointRate[axis] > 0) {
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if ((setpointRate[axis] - previousSetpoint[axis]) < previousSetpoint[axis])
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dynC = dynC * powerf(rcInput[axis], 2) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
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} else if (setpointRate[axis] < 0) {
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if ((setpointRate[axis] - previousSetpoint[axis]) > previousSetpoint[axis])
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dynC = dynC * powerf(rcInput[axis], 2) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
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}
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}
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previousSetpoint[axis] = setpointRate[axis];
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rD = dynC * setpointRate[axis] - PVRate; // cr - y
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delta = rD - lastRateError[axis];
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lastRateError[axis] = rD;
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// Divide delta by targetLooptime to get differential (ie dr/dt)
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delta *= (1.0f / getdT());
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if (debugMode == DEBUG_DTERM_FILTER) debug[axis] = Kd[axis] * delta * tpaFactor;
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// Filter delta
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if (dtermNotchInitialised) delta = biquadFilterApply(&dtermFilterNotch[axis], delta);
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if (pidProfile->dterm_lpf_hz) {
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if (pidProfile->dterm_filter_type == FILTER_BIQUAD)
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delta = biquadFilterApply(&dtermFilterLpf[axis], delta);
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else if (pidProfile->dterm_filter_type == FILTER_PT1)
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delta = pt1FilterApply4(&deltaFilter[axis], delta, pidProfile->dterm_lpf_hz, getdT());
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else
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delta = firFilterUpdate(&dtermDenoisingState[axis], delta);
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}
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DTerm = Kd[axis] * delta * tpaFactor;
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// -----calculate total PID output
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axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
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} else {
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if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
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axisPID[axis] = lrintf(PTerm + ITerm);
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DTerm = 0.0f; // needed for blackbox
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}
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// Disable PID control at zero throttle
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if (!pidStabilisationEnabled) axisPID[axis] = 0;
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#ifdef GTUNE
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if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
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calculate_Gtune(axis);
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}
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#endif
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#ifdef BLACKBOX
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axisPID_P[axis] = PTerm;
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axisPID_I[axis] = ITerm;
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axisPID_D[axis] = DTerm;
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#endif
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}
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}
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