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Merge pull request #10777 from ctzsnooze/move-feedforward-transtion-calculation

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Michael Keller 2021-09-04 16:56:37 +12:00 • committed by GitHub
commit 7a8b40a670
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12 changed files with 72 additions and 45 deletions
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20
src/main/flight/pid.c
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@ -87,7 +87,7 @@ FAST_DATA_ZERO_INIT float throttleBoost;
pt1Filter_t throttleLpf;
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 2);
PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 3);
#if defined(STM32F1)
#define PID_PROCESS_DENOM_DEFAULT 8
@ -141,7 +141,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.itermWindupPointPercent = 100,
.pidAtMinThrottle = PID_STABILISATION_ON,
.levelAngleLimit = 55,
.feedforwardTransition = 0,
.feedforward_transition = 0,
.yawRateAccelLimit = 0,
.rateAccelLimit = 0,
.itermThrottleThreshold = 250,
@ -256,12 +256,12 @@ void pidStabilisationState(pidStabilisationState_e pidControllerState)
const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
float pidGetFeedforwardBoostFactor()
#ifdef USE_FEEDFORWARD
float pidGetFeedforwardTransitionFactor()
{
return pidRuntime.feedforwardBoostFactor;
return pidRuntime.feedforwardTransitionFactor;
}
#ifdef USE_FEEDFORWARD
float pidGetFeedforwardSmoothFactor()
{
return pidRuntime.feedforwardSmoothFactor;
@ -271,6 +271,11 @@ float pidGetFeedforwardJitterFactor()
{
return pidRuntime.feedforwardJitterFactor;
}
float pidGetFeedforwardBoostFactor()
{
return pidRuntime.feedforwardBoostFactor;
}
#endif
void pidResetIterm(void)
@ -1105,9 +1110,8 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
if (feedforwardGain > 0) {
// halve feedforward in Level mode since stick sensitivity is weaker by about half
feedforwardGain *= FLIGHT_MODE(ANGLE_MODE) ? 0.5f : 1.0f;
// no transition if feedforwardTransition == 0
float transition = pidRuntime.feedforwardTransition > 0 ? MIN(1.f, getRcDeflectionAbs(axis) * pidRuntime.feedforwardTransition) : 1;
float feedForward = feedforwardGain * transition * pidSetpointDelta * pidRuntime.pidFrequency;
// transition now calculated in feedforward.c when new RC data arrives
float feedForward = feedforwardGain * pidSetpointDelta * pidRuntime.pidFrequency;
#ifdef USE_FEEDFORWARD
pidData[axis].F = shouldApplyFeedforwardLimits(axis) ?