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Added new debug mode to time pidloop subtasks.

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This commit is contained in:
Martin Budden 2016-05-05 10:28:26 +01:00
parent fa24d2950e
commit 825475fd43
10 changed files with 98 additions and 78 deletions
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20
src/main/flight/pid.c
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@ -62,9 +62,10 @@ int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
uint8_t PIDweight[3];
static int32_t errorGyroI[3], errorGyroILimit[3];
#ifndef SKIP_PID_LUXFLOAT
static float errorGyroIf[3], errorGyroIfLimit[3];
static int32_t errorAngleI[2];
static float errorAngleIf[2];
#endif
static bool lowThrottlePidReduction;
static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
@ -103,22 +104,15 @@ uint16_t getDynamicKp(int axis, pidProfile_t *pidProfile) {
return dynamicKp;
}
void pidResetErrorAngle(void)
{
errorAngleI[ROLL] = 0;
errorAngleI[PITCH] = 0;
errorAngleIf[ROLL] = 0.0f;
errorAngleIf[PITCH] = 0.0f;
}
void pidResetErrorGyroState(uint8_t resetOption)
{
if (resetOption >= RESET_ITERM) {
int axis;
for (axis = 0; axis < 3; axis++) {
errorGyroI[axis] = 0;
#ifndef SKIP_PID_LUXFLOAT
errorGyroIf[axis] = 0.0f;
#endif
}
}
@ -141,6 +135,7 @@ const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
static filterStatePt1_t deltaFilterState[3];
static filterStatePt1_t yawFilterState;
#ifndef SKIP_PID_LUXFLOAT
static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
{
@ -280,6 +275,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
#endif
}
}
#endif
static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
@ -426,8 +422,10 @@ void pidSetController(pidControllerType_e type)
case PID_CONTROLLER_MWREWRITE:
pid_controller = pidMultiWiiRewrite;
break;
#ifndef SKIP_PID_LUXFLOAT
case PID_CONTROLLER_LUX_FLOAT:
pid_controller = pidLuxFloat;
#endif
}
}