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Merge pull request #8736 from joelucid/ff2_1

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various ff2_0 improvements
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Michael Keller 2019-09-05 02:14:23 +12:00 • committed by GitHub
commit 75447ef2b8
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8 changed files with 96 additions and 77 deletions
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21
src/main/flight/pid.c
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@ -130,7 +130,7 @@ static FAST_RAM_ZERO_INIT float airmodeThrottleOffsetLimit;
#define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 12);
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 13);
void resetPidProfile(pidProfile_t *pidProfile)
{
@ -212,10 +212,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
.idle_p = 50,
.idle_pid_limit = 200,
.idle_max_increase = 150,
.ff_interpolate_sp = 0,
.ff_spread = 0,
.ff_max_rate_limit = 0,
.ff_lookahead_limit = 0,
.ff_interpolate_sp = FF_INTERPOLATE_AVG,
.ff_jerk_limit = 25,
.ff_max_rate_limit = 100,
.ff_boost = 15,
);
#ifndef USE_D_MIN
@ -315,6 +314,13 @@ static FAST_RAM_ZERO_INIT pt1Filter_t airmodeThrottleLpf2;
static FAST_RAM_ZERO_INIT pt1Filter_t antiGravityThrottleLpf;
static FAST_RAM_ZERO_INIT float ffBoostFactor;
static FAST_RAM_ZERO_INIT float ffJerkLimitInverse;
float pidGetJerkLimitInverse()
{
return ffJerkLimitInverse;
}
float pidGetFfBoostFactor()
{
@ -460,6 +466,7 @@ void pidInitFilters(const pidProfile_t *pidProfile)
pt1FilterInit(&antiGravityThrottleLpf, pt1FilterGain(ANTI_GRAVITY_THROTTLE_FILTER_CUTOFF, dT));
ffBoostFactor = (float)pidProfile->ff_boost / 10.0f;
ffJerkLimitInverse = pidProfile->ff_jerk_limit ? 1.0f / ((float)pidProfile->ff_jerk_limit / 10.0f) : 0.0f;
}
#ifdef USE_RC_SMOOTHING_FILTER
@ -583,7 +590,7 @@ static FAST_RAM_ZERO_INIT float dMinSetpointGain;
#endif
#ifdef USE_INTERPOLATED_SP
static FAST_RAM_ZERO_INIT bool ffFromInterpolatedSetpoint;
static FAST_RAM_ZERO_INIT ffInterpolationType_t ffFromInterpolatedSetpoint;
#endif
void pidInitConfig(const pidProfile_t *pidProfile)
@ -1408,7 +1415,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
float pidSetpointDelta = 0;
#ifdef USE_INTERPOLATED_SP
if (ffFromInterpolatedSetpoint) {
pidSetpointDelta = interpolatedSpApply(axis, pidFrequency, newRcFrame);
pidSetpointDelta = interpolatedSpApply(axis, newRcFrame, ffFromInterpolatedSetpoint);
} else {
pidSetpointDelta = currentPidSetpoint - previousPidSetpoint[axis];
}