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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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src/main/flight/pid.h
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@ -161,7 +161,6 @@ typedef struct pidProfile_s {
uint16_t crash_delay; // ms
uint8_t crash_recovery_angle; // degrees
uint8_t crash_recovery_rate; // degree/second
uint8_t feedforwardTransition; // Feedforward attenuation around centre sticks
uint16_t crash_limit_yaw; // limits yaw errorRate, so crashes don't cause huge throttle increase
uint16_t itermLimit;
uint16_t dterm_lowpass2_hz; // Extra PT1 Filter on D in hz
@ -197,7 +196,6 @@ typedef struct pidProfile_s {
uint8_t motor_output_limit; // Upper limit of the motor output (percent)
int8_t auto_profile_cell_count; // Cell count for this profile to be used with if auto PID profile switching is used
uint8_t transient_throttle_limit; // Maximum DC component of throttle change to mix into throttle to prevent airmode mirroring noise
uint8_t feedforward_boost; // amount of setpoint acceleration to add to feedforward, 10 means 100% added
char profileName[MAX_PROFILE_NAME_LENGTH + 1]; // Descriptive name for profile
uint8_t dyn_idle_min_rpm; // minimum motor speed enforced by the dynamic idle controller
@ -206,10 +204,13 @@ typedef struct pidProfile_s {
uint8_t dyn_idle_d_gain; // D gain for corrections around rapid changes in rpm
uint8_t dyn_idle_max_increase; // limit on maximum possible increase in motor idle drive during active control
uint8_t feedforward_transition; // Feedforward attenuation around centre sticks
uint8_t feedforward_averaging; // Number of packets to average when averaging is on
uint8_t feedforward_max_rate_limit; // Maximum setpoint rate percentage for feedforward
uint8_t feedforward_smooth_factor; // Amount of lowpass type smoothing for feedforward steps
uint8_t feedforward_jitter_factor; // Number of RC steps below which to attenuate feedforward
uint8_t feedforward_boost; // amount of setpoint acceleration to add to feedforward, 10 means 100% added
uint8_t feedforward_max_rate_limit; // Maximum setpoint rate percentage for feedforward
uint8_t dyn_lpf_curve_expo; // set the curve for dynamic dterm lowpass filter
uint8_t level_race_mode; // NFE race mode - when true pitch setpoint calcualtion is gyro based in level mode
uint8_t vbat_sag_compensation; // Reduce motor output by this percentage of the maximum compensation amount
@ -284,10 +285,8 @@ typedef struct pidRuntime_s {
float antiGravityOsdCutoff;
float antiGravityThrottleHpf;
float antiGravityPBoost;
float feedforwardBoostFactor;
float itermAccelerator;
uint16_t itermAcceleratorGain;
float feedforwardTransition;
pidCoefficient_t pidCoefficient[XYZ_AXIS_COUNT];
float levelGain;
float horizonGain;
@ -385,9 +384,11 @@ typedef struct pidRuntime_s {
#endif
#ifdef USE_FEEDFORWARD
float feedforwardTransitionFactor;
feedforwardAveraging_t feedforwardAveraging;
float feedforwardSmoothFactor;
float feedforwardJitterFactor;
float feedforwardBoostFactor;
#endif
} pidRuntime_t;
@ -443,4 +444,5 @@ float pidGetPidFrequency();
float pidGetFeedforwardBoostFactor();
float pidGetFeedforwardSmoothFactor();
float pidGetFeedforwardJitterFactor();
float pidGetFeedforwardTransitionFactor();
float dynLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLpfMax, uint8_t expo);