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Merge pull request #5945 from supiiik/master

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New calculation method for Dterm setpoint weight
This commit is contained in:
Michael Keller 2018-05-24 21:16:55 +12:00 • committed by GitHub
commit 71a1a9789a
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6 changed files with 12 additions and 8 deletions
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4
src/main/cms/cms_menu_imu.c
View file

@ -237,7 +237,7 @@ static CMS_Menu cmsx_menuRateProfile = {
.entries = cmsx_menuRateProfileEntries .entries = cmsx_menuRateProfileEntries
}; };
static uint8_t cmsx_dtermSetpointWeight; static uint16_t cmsx_dtermSetpointWeight;
static uint8_t cmsx_setpointRelaxRatio; static uint8_t cmsx_setpointRelaxRatio;
static uint8_t cmsx_angleStrength; static uint8_t cmsx_angleStrength;
static uint8_t cmsx_horizonStrength; static uint8_t cmsx_horizonStrength;
@ -285,7 +285,7 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
static OSD_Entry cmsx_menuProfileOtherEntries[] = { static OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "-- OTHER PP --", OME_Label, NULL, pidProfileIndexString, 0 }, { "-- OTHER PP --", OME_Label, NULL, pidProfileIndexString, 0 },
{ "D SETPT WT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_dtermSetpointWeight, 0, 255, 1, 10 }, 0 }, { "D SETPT WT", OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_dtermSetpointWeight, 0, 2000, 1 }, 0 },
{ "SETPT TRS", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_setpointRelaxRatio, 0, 100, 1, 10 }, 0 }, { "SETPT TRS", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_setpointRelaxRatio, 0, 100, 1, 10 }, 0 },
{ "ANGLE STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleStrength, 0, 200, 1 } , 0 }, { "ANGLE STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleStrength, 0, 200, 1 } , 0 },
{ "HORZN STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonStrength, 0, 200, 1 } , 0 }, { "HORZN STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonStrength, 0, 200, 1 } , 0 },

4
src/main/fc/rc_adjustments.c
View file

@ -401,7 +401,7 @@ static int applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t a
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
break; break;
case ADJUSTMENT_D_SETPOINT: case ADJUSTMENT_D_SETPOINT:
newValue = constrain((int)pidProfile->dtermSetpointWeight + delta, 0, 254); // FIXME magic numbers repeated in cli.c newValue = constrain((int)pidProfile->dtermSetpointWeight + delta, 0, 2000); // FIXME magic numbers repeated in cli.c
pidProfile->dtermSetpointWeight = newValue; pidProfile->dtermSetpointWeight = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue);
break; break;
@ -550,7 +550,7 @@ static int applyAbsoluteAdjustment(controlRateConfig_t *controlRateConfig, adjus
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
break; break;
case ADJUSTMENT_D_SETPOINT: case ADJUSTMENT_D_SETPOINT:
newValue = constrain(value, 0, 254); // FIXME magic numbers repeated in cli.c newValue = constrain(value, 0, 2000); // FIXME magic numbers repeated in cli.c
pidProfile->dtermSetpointWeight = newValue; pidProfile->dtermSetpointWeight = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue);
break; break;

2
src/main/flight/pid.c
View file

@ -88,7 +88,7 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
); );
#endif #endif
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 2); PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 3);
void resetPidProfile(pidProfile_t *pidProfile) void resetPidProfile(pidProfile_t *pidProfile)
{ {

2
src/main/flight/pid.h
View file

@ -98,7 +98,7 @@ typedef struct pidProfile_s {
uint16_t itermThrottleThreshold; // max allowed throttle delta before iterm accelerated in ms uint16_t itermThrottleThreshold; // max allowed throttle delta before iterm accelerated in ms
uint16_t itermAcceleratorGain; // Iterm Accelerator Gain when itermThrottlethreshold is hit uint16_t itermAcceleratorGain; // Iterm Accelerator Gain when itermThrottlethreshold is hit
uint8_t setpointRelaxRatio; // Setpoint weight relaxation effect uint8_t setpointRelaxRatio; // Setpoint weight relaxation effect
uint8_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > aggressive derivative) uint16_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > aggressive derivative)
uint16_t yawRateAccelLimit; // yaw accel limiter for deg/sec/ms uint16_t yawRateAccelLimit; // yaw accel limiter for deg/sec/ms
uint16_t rateAccelLimit; // accel limiter roll/pitch deg/sec/ms uint16_t rateAccelLimit; // accel limiter roll/pitch deg/sec/ms
uint16_t crash_dthreshold; // dterm crash value uint16_t crash_dthreshold; // dterm crash value

6
src/main/interface/msp.c
View file

@ -1224,7 +1224,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, 0); // reserved sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, currentPidProfile->vbatPidCompensation); sbufWriteU8(dst, currentPidProfile->vbatPidCompensation);
sbufWriteU8(dst, currentPidProfile->setpointRelaxRatio); sbufWriteU8(dst, currentPidProfile->setpointRelaxRatio);
sbufWriteU8(dst, currentPidProfile->dtermSetpointWeight); sbufWriteU8(dst, MIN(currentPidProfile->dtermSetpointWeight, 255));
sbufWriteU8(dst, 0); // reserved sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // reserved sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // reserved sbufWriteU8(dst, 0); // reserved
@ -1234,6 +1234,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, 0); // was pidProfile.levelSensitivity sbufWriteU8(dst, 0); // was pidProfile.levelSensitivity
sbufWriteU16(dst, currentPidProfile->itermThrottleThreshold); sbufWriteU16(dst, currentPidProfile->itermThrottleThreshold);
sbufWriteU16(dst, currentPidProfile->itermAcceleratorGain); sbufWriteU16(dst, currentPidProfile->itermAcceleratorGain);
sbufWriteU16(dst, currentPidProfile->dtermSetpointWeight);
break; break;
case MSP_SENSOR_CONFIG: case MSP_SENSOR_CONFIG:
@ -1694,6 +1695,9 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
currentPidProfile->itermThrottleThreshold = sbufReadU16(src); currentPidProfile->itermThrottleThreshold = sbufReadU16(src);
currentPidProfile->itermAcceleratorGain = sbufReadU16(src); currentPidProfile->itermAcceleratorGain = sbufReadU16(src);
} }
if (sbufBytesRemaining(src) >= 2) {
currentPidProfile->dtermSetpointWeight = sbufReadU16(src);
}
pidInitConfig(currentPidProfile); pidInitConfig(currentPidProfile);
break; break;

2
src/main/interface/settings.c
View file

@ -738,7 +738,7 @@ const clivalue_t valueTable[] = {
{ "anti_gravity_threshold", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 20, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermThrottleThreshold) }, { "anti_gravity_threshold", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 20, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermThrottleThreshold) },
{ "anti_gravity_gain", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 1000, 30000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermAcceleratorGain) }, { "anti_gravity_gain", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 1000, 30000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermAcceleratorGain) },
{ "setpoint_relax_ratio", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, setpointRelaxRatio) }, { "setpoint_relax_ratio", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, setpointRelaxRatio) },
{ "dterm_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 254 }, PG_PID_PROFILE, offsetof(pidProfile_t, dtermSetpointWeight) }, { "dterm_setpoint_weight", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dtermSetpointWeight) },
{ "acc_limit_yaw", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yawRateAccelLimit) }, { "acc_limit_yaw", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yawRateAccelLimit) },
{ "acc_limit", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, rateAccelLimit) }, { "acc_limit", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, rateAccelLimit) },
{ "crash_dthreshold", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_dthreshold) }, { "crash_dthreshold", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_dthreshold) },