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initial debug changes

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This commit is contained in:
ctzsnooze 2018-06-10 08:40:04 +10:00
parent 504b1479fb
commit 6d2c1a3c01
1 changed files with 16 additions and 5 deletions
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21
src/main/flight/pid.c
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@ -815,17 +815,23 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
if (itermRelax && (axis < FD_YAW || itermRelax == ITERM_RELAX_RPY )) { if (itermRelax && (axis < FD_YAW || itermRelax == ITERM_RELAX_RPY )) {
const float setpointLpf = pt1FilterApply(&windupLpf[axis], currentPidSetpoint); const float setpointLpf = pt1FilterApply(&windupLpf[axis], currentPidSetpoint);
const float setpointHpf = fabsf(currentPidSetpoint - setpointLpf); const float setpointHpf = fabsf(currentPidSetpoint - setpointLpf);
if (itermRelaxType == ITERM_RELAX_SETPOINT && setpointHpf < 60) {
itermErrorRate = (1 - setpointHpf / 60.0f) * (currentPidSetpoint - gyroRate);
}
if (axis == FD_ROLL) { if (axis == FD_ROLL) {
DEBUG_SET(DEBUG_ITERM_RELAX, 0, lrintf(setpointLpf)); DEBUG_SET(DEBUG_ITERM_RELAX, 0, lrintf(setpointLpf));
DEBUG_SET(DEBUG_ITERM_RELAX, 1, lrintf(setpointHpf)); DEBUG_SET(DEBUG_ITERM_RELAX, 1, lrintf(setpointHpf));
DEBUG_SET(DEBUG_ITERM_RELAX, 2, lrintf(currentPidSetpoint)); }
DEBUG_SET(DEBUG_ITERM_RELAX, 3, lrintf(axisError[axis] * 10)); if (itermRelaxType == ITERM_RELAX_SETPOINT && setpointHpf < 60) {
itermErrorRate = (1 - setpointHpf / 60.0f) * (currentPidSetpoint - gyroRate);
if (axis == FD_ROLL) {
DEBUG_SET(DEBUG_ITERM_RELAX, 2, lrintf(currentPidSetpoint));
DEBUG_SET(DEBUG_ITERM_RELAX, 3, lrintf((1 - setpointHpf / 60.0f) * 100));
}
} }
if (itermRelaxType == ITERM_RELAX_GYRO ) { if (itermRelaxType == ITERM_RELAX_GYRO ) {
itermErrorRate = fapplyDeadband(setpointLpf - gyroRate, setpointHpf); itermErrorRate = fapplyDeadband(setpointLpf - gyroRate, setpointHpf);
if (axis == FD_ROLL) {
DEBUG_SET(DEBUG_ITERM_RELAX, 2, lrintf(gyroRate + setpointHpf));
DEBUG_SET(DEBUG_ITERM_RELAX, 3, lrintf(gyroRate - setpointHpf));
}
} }
#if defined(USE_ABSOLUTE_CONTROL) #if defined(USE_ABSOLUTE_CONTROL)
@ -845,6 +851,11 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
} else { } else {
acErrorRate = (gyroRate > gmaxac ? gmaxac : gminac ) - gyroRate; acErrorRate = (gyroRate > gmaxac ? gmaxac : gminac ) - gyroRate;
} }
if (axis == FD_ROLL) {
DEBUG_SET(DEBUG_ITERM_RELAX, 2, lrintf(acErrorRate));
DEBUG_SET(DEBUG_ITERM_RELAX, 3, lrintf(axisError[axis] * 10));
}
#endif // USE_ABSOLUTE_CONTROL #endif // USE_ABSOLUTE_CONTROL
} else } else
#endif // USE_ITERM_RELAX #endif // USE_ITERM_RELAX