Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-21 15:25:36 +03:00
Code Issues Wiki Activity

Airmodeplus itermscaling more agressive // Remove from level modes

Browse source
This commit is contained in:
borisbstyle 2016-01-19 23:47:40 +01:00
parent b5dcbbed25
commit 892778a08e
1 changed files with 13 additions and 15 deletions
Download patch file Download diff file Expand all files Collapse all files

28
src/main/flight/pid.c
View file

@ -83,29 +83,27 @@ void pidResetErrorGyro(void)
errorGyroIf[YAW] = 0.0f; errorGyroIf[YAW] = 0.0f;
} }
static float minItermScaler = 1;
void airModePlus(airModePlus_t *axisState, int axis, pidProfile_t *pidProfile) { void airModePlus(airModePlus_t *axisState, int axis, pidProfile_t *pidProfile) {
float rcCommandReflection = ABS((float)rcCommand[axis] / 500.0f); float rcCommandReflection = (float)rcCommand[axis] / 500.0f;
axisState->wowFactor = 1; axisState->wowFactor = 1;
axisState->factor = 0; axisState->factor = 0;
if (rcCommandReflection > 0.7f) { if (ABS(rcCommandReflection) > 0.7f && (!flightModeFlags)) { /* scaling should not happen in level modes */
//Ki scaler /* Ki scaler axis*/
axisState->iTermScaler = constrainf(1.0f - (1.5f * rcCommandReflection), 0.0f, minItermScaler); axisState->iTermScaler = 0.0f;
if (minItermScaler > axisState->iTermScaler) minItermScaler = axisState->iTermScaler;
} else { } else {
// Prevent rapid windup /* Prevent rapid windup during acro recoveries */
if (minItermScaler < 1) { if (axisState->iTermScaler < 1) {
minItermScaler = constrainf(minItermScaler + 0.001f, 0.0f, 1.0f); axisState->iTermScaler = constrainf(axisState->iTermScaler + 0.001f, 0.0f, 1.0f);
} else { } else {
minItermScaler = 1; axisState->iTermScaler = 1;
} }
} }
if (axis != YAW && pidProfile->airModeInsaneAcrobilityFactor) { /* acro plus factor handling */
if (axis != YAW && pidProfile->airModeInsaneAcrobilityFactor && (!flightModeFlags)) {
axisState->wowFactor = rcCommandReflection * ((float)pidProfile->airModeInsaneAcrobilityFactor / 100.0f); //0-1f axisState->wowFactor = rcCommandReflection * ((float)pidProfile->airModeInsaneAcrobilityFactor / 100.0f); //0-1f
axisState->factor = axisState->wowFactor * (rcCommand[axis] / 500.0f) * 1000; axisState->factor = axisState->wowFactor * rcCommandReflection * 1000;
axisState->wowFactor = 1.0f - axisState->wowFactor; axisState->wowFactor = 1.0f - axisState->wowFactor;
} }
} }
@ -196,7 +194,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) { if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
airModePlus(&airModePlusAxisState[axis], axis, pidProfile); airModePlus(&airModePlusAxisState[axis], axis, pidProfile);
errorGyroIf[axis] *= minItermScaler; errorGyroIf[axis] *= airModePlusAxisState[axis].iTermScaler;
} }
if (allowITermShrinkOnly || motorLimitReached) { if (allowITermShrinkOnly || motorLimitReached) {
@ -337,7 +335,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) { if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
airModePlus(&airModePlusAxisState[axis], axis, pidProfile); airModePlus(&airModePlusAxisState[axis], axis, pidProfile);
errorGyroI[axis] *= minItermScaler; errorGyroI[axis] *= airModePlusAxisState[axis].iTermScaler;
} }
if (allowITermShrinkOnly || motorLimitReached) { if (allowITermShrinkOnly || motorLimitReached) {