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Code Issues Wiki Activity

Move PID relaxation to only D

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borisbstyle 2016-09-27 00:18:31 +02:00
parent 3b4e854fca
commit 73e952ce16
8 changed files with 23 additions and 31 deletions
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22
src/main/flight/pid.c
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@ -49,7 +49,7 @@
extern uint8_t motorCount;
uint32_t targetPidLooptime;
extern float setpointRate[3], ptermSetpointRate[3];
extern float setpointRate[3];
extern float rcInput[3];
static bool pidStabilisationEnabled;
@ -132,10 +132,10 @@ void initFilters(const pidProfile_t *pidProfile) {
static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
{
float errorRate = 0, rP = 0, rD = 0, PVRate = 0;
float errorRate = 0, rD = 0, PVRate = 0, dynC;
float ITerm,PTerm,DTerm;
static float lastRateError[2];
static float Kp[3], Ki[3], Kd[3], c[3], rollPitchMaxVelocity, yawMaxVelocity, previousSetpoint[3];
static float Kp[3], Ki[3], Kd[3], c[3], rollPitchMaxVelocity, yawMaxVelocity, previousSetpoint[3], relaxFactor[3];
float delta;
int axis;
float horizonLevelStrength = 1;
@ -188,6 +188,7 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
Ki[axis] = ITERM_SCALE * pidProfile->I8[axis];
Kd[axis] = DTERM_SCALE * pidProfile->D8[axis];
c[axis] = pidProfile->dtermSetpointWeight / 100.0f;
relaxFactor[axis] = 1.0f - (pidProfile->setpointRelaxRatio / 100.0f);
yawMaxVelocity = pidProfile->yawRateAccelLimit * 1000 * getdT();
rollPitchMaxVelocity = pidProfile->rateAccelLimit * 1000 * getdT();
@ -218,11 +219,11 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
#endif
if (FLIGHT_MODE(ANGLE_MODE)) {
// ANGLE mode - control is angle based, so control loop is needed
ptermSetpointRate[axis] = setpointRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 10.0f;
setpointRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 10.0f;
} else {
// HORIZON mode - direct sticks control is applied to rate PID
// mix up angle error to desired AngleRate to add a little auto-level feel
ptermSetpointRate[axis] = setpointRate[axis] = setpointRate[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 10.0f);
setpointRate[axis] = setpointRate[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 10.0f);
}
}
@ -233,10 +234,9 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
// Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
// ----- calculate error / angle rates ----------
errorRate = setpointRate[axis] - PVRate; // r - y
rP = ptermSetpointRate[axis] - PVRate; // br - y
// -----calculate P component
PTerm = Kp[axis] * rP * tpaFactor;
// -----calculate P component and add Dynamic Part based on stick input
PTerm = Kp[axis] * errorRate * tpaFactor;
// -----calculate I component.
// Reduce strong Iterm accumulation during higher stick inputs
@ -254,7 +254,11 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
//-----calculate D-term (Yaw D not yet supported)
if (axis != YAW) {
rD = c[axis] * setpointRate[axis] - PVRate; // cr - y
if (pidProfile->setpointRelaxRatio < 100)
dynC = c[axis] * powerf(rcInput[axis], 2) * relaxFactor[axis] + c[axis] * (1-relaxFactor[axis]);
else
dynC = c[axis];
rD = dynC * setpointRate[axis] - PVRate; // cr - y
delta = rD - lastRateError[axis];
lastRateError[axis] = rD;