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Convert mixer to float math

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This commit is contained in:
borisbstyle 2016-10-18 23:59:14 +02:00
parent e21e1f50aa
commit 706897c187
13 changed files with 126 additions and 91 deletions
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7
src/main/flight/pid.h
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@ -20,9 +20,10 @@
#include <stdbool.h>
#define PID_CONTROLLER_BETAFLIGHT 1
#define PID_MIXER_SCALING 1000.0f
#define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter
#define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter
#define PIDSUM_LIMIT 700
#define PIDSUM_LIMIT 0.5f
// Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float
#define PTERM_SCALE 0.032029f
@ -67,7 +68,7 @@ typedef struct pidProfile_s {
uint16_t rollPitchItermIgnoreRate; // Experimental threshold for resetting iterm for pitch and roll on certain rates
uint16_t yawItermIgnoreRate; // Experimental threshold for resetting iterm for yaw on certain rates
uint16_t yaw_p_limit;
uint16_t pidSumLimit;
float pidSumLimit;
uint8_t dterm_average_count; // Configurable delta count for dterm
uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage
uint8_t pidAtMinThrottle; // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
@ -98,7 +99,7 @@ typedef void (*pidControllerFuncPtr)(const pidProfile_t *pidProfile, uint16_t ma
void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig);
extern int16_t axisPID[3];
extern float axisPIDf[3];
extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
bool airmodeWasActivated;
extern uint32_t targetPidLooptime;