Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 00:05:33 +03:00
Code Issues Wiki Activity

removed dependency on built-in printf() when using keil - they provided a much better internal one than GNU

Browse source 
got rid of int16 garbage in mwc pid controller - we aren't running on tarduino


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@345 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-06-18 08:11:56 +00:00
parent 4e94fd07e5
commit 76617bc7e4
4 changed files with 35 additions and 19 deletions
Download patch file Download diff file Expand all files Collapse all files

24
src/mw.c
View file

@ -284,12 +284,12 @@ static int32_t errorAngleI[2] = { 0, 0 };
static void pidMultiWii(void)
{
int axis, prop;
int16_t error, errorAngle;
int16_t PTerm, ITerm, PTermACC, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
int32_t error, errorAngle;
int32_t PTerm, ITerm, PTermACC, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
static int16_t lastGyro[3] = { 0, 0, 0 };
static int16_t delta1[3], delta2[3];
int16_t deltaSum;
int16_t delta;
static int32_t delta1[3], delta2[3];
int32_t deltaSum;
int32_t delta;
// **** PITCH & ROLL & YAW PID ****
prop = max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])); // range [0;500]
@ -297,11 +297,11 @@ static void pidMultiWii(void)
if ((f.ANGLE_MODE || f.HORIZON_MODE) && axis < 2) { // MODE relying on ACC
// 50 degrees max inclination
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis];
PTermACC = (int32_t)errorAngle * cfg.P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
PTermACC = errorAngle * cfg.P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
PTermACC = constrain(PTermACC, -cfg.D8[PIDLEVEL] * 5, +cfg.D8[PIDLEVEL] * 5);
errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp
ITermACC = ((int32_t)errorAngleI[axis] * cfg.I8[PIDLEVEL]) >> 12;
ITermACC = (errorAngleI[axis] * cfg.I8[PIDLEVEL]) >> 12;
}
if (!f.ANGLE_MODE || f.HORIZON_MODE || axis == 2) { // MODE relying on GYRO or YAW axis
error = (int32_t)rcCommand[axis] * 10 * 8 / cfg.P8[axis];
@ -315,8 +315,8 @@ static void pidMultiWii(void)
ITermGYRO = (errorGyroI[axis] / 125 * cfg.I8[axis]) >> 6;
}
if (f.HORIZON_MODE && axis < 2) {
PTerm = ((int32_t)PTermACC * (500 - prop) + (int32_t)PTermGYRO * prop) / 500;
ITerm = ((int32_t)ITermACC * (500 - prop) + (int32_t)ITermGYRO * prop) / 500;
PTerm = (PTermACC * (500 - prop) + PTermGYRO * prop) / 500;
ITerm = (ITermACC * (500 - prop) + ITermGYRO * prop) / 500;
} else {
if (f.ANGLE_MODE && axis < 2) {
PTerm = PTermACC;
@ -328,13 +328,13 @@ static void pidMultiWii(void)
}
PTerm -= (int32_t)gyroData[axis] * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
delta = gyroData[axis] - lastGyro[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
delta = gyroData[axis] - lastGyro[axis];
lastGyro[axis] = gyroData[axis];
deltaSum = delta1[axis] + delta2[axis] + delta;
delta2[axis] = delta1[axis];
delta1[axis] = delta;
DTerm = ((int32_t)deltaSum * dynD8[axis]) >> 5; // 32 bits is needed for calculation
axisPID[axis] = PTerm + ITerm - DTerm;
DTerm = (deltaSum * dynD8[axis]) / 32;
axisPID[axis] = PTerm + ITerm - DTerm;
}
}