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Various cleanups and increase in D setpoint weight range

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borisbstyle 2016-08-24 00:33:32 +02:00
parent e6a11960fd
commit 5e5b44f593
4 changed files with 6 additions and 11 deletions
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4
src/main/config/config.c
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@ -243,8 +243,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
// Betaflight PID controller parameters
pidProfile->ptermSetpointWeight = 75;
pidProfile->dtermSetpointWeight = 120;
pidProfile->ptermSetpointWeight = 80;
pidProfile->dtermSetpointWeight = 150;
pidProfile->yawRateAccelLimit = 220;
pidProfile->rateAccelLimit = 0;
pidProfile->toleranceBand = 0;

2
src/main/io/serial_cli.c
View file

@ -853,7 +853,7 @@ const clivalue_t valueTable[] = {
{ "zero_cross_allowance", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.zeroCrossAllowanceCount, .config.minmax = {0, 50 } },
{ "iterm_throttle_gain", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleGain, .config.minmax = {0, 200 } },
{ "pterm_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.ptermSetpointWeight, .config.minmax = {30, 100 } },
{ "dterm_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 200 } },
{ "dterm_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 300 } },
{ "yaw_rate_accel_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0, 1000 } },
{ "rate_accel_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0, 1000 } },

7
src/main/main.c
View file

@ -106,8 +106,6 @@
#include "config/config_profile.h"
#include "config/config_master.h"
#define LOOPTIME_SUSPEND_TIME 3 // Prevent too long busy wait times
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
@ -599,8 +597,7 @@ void init(void)
masterConfig.gyro_sync_denom = 1;
}
setTargetPidLooptime((gyro.targetLooptime + LOOPTIME_SUSPEND_TIME) * masterConfig.pid_process_denom); // Initialize pid looptime
setTargetPidLooptime(gyro.targetLooptime * masterConfig.pid_process_denom); // Initialize pid looptime
#ifdef BLACKBOX
initBlackbox();
@ -677,7 +674,7 @@ void main_init(void)
/* Setup scheduler */
schedulerInit();
rescheduleTask(TASK_GYROPID, gyro.targetLooptime + LOOPTIME_SUSPEND_TIME); // Add a littlebit of extra time to reduce busy wait
rescheduleTask(TASK_GYROPID, gyro.targetLooptime); // Add a littlebit of extra time to reduce busy wait
setTaskEnabled(TASK_GYROPID, true);
if (sensors(SENSOR_ACC)) {

4
src/main/mw.c
View file

@ -813,12 +813,10 @@ uint8_t setPidUpdateCountDown(void) {
// Function for loop trigger
void taskMainPidLoopCheck(void)
{
static uint32_t previousTime;
static bool runTaskMainSubprocesses;
static uint8_t pidUpdateCountdown;
cycleTime = micros() - previousTime;
previousTime = micros();
cycleTime = getTaskDeltaTime(TASK_SELF);
if (debugMode == DEBUG_CYCLETIME) {
debug[0] = cycleTime;