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make iyaw conditional, bump pidProfile version number

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This commit is contained in:
Thorsten Laux 2018-12-11 08:28:53 +01:00
parent a6ea33689f
commit 906a697668
3 changed files with 15 additions and 3 deletions
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15
src/main/flight/pid.c
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@ -114,7 +114,7 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
#define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes) #define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 5); PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 6);
void resetPidProfile(pidProfile_t *pidProfile) void resetPidProfile(pidProfile_t *pidProfile)
{ {
@ -179,7 +179,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.launchControlGain = 40, .launchControlGain = 40,
.launchControlAllowTriggerReset = true, .launchControlAllowTriggerReset = true,
.use_integrated_yaw = false, .use_integrated_yaw = false,
.integrated_yaw_relax = 200 .integrated_yaw_relax = 200,
); );
#ifdef USE_DYN_LPF #ifdef USE_DYN_LPF
pidProfile->dterm_lowpass_hz = 150; pidProfile->dterm_lowpass_hz = 150;
@ -438,8 +438,11 @@ static FAST_RAM_ZERO_INIT uint8_t launchControlMode;
static FAST_RAM_ZERO_INIT uint8_t launchControlAngleLimit; static FAST_RAM_ZERO_INIT uint8_t launchControlAngleLimit;
static FAST_RAM_ZERO_INIT float launchControlKi; static FAST_RAM_ZERO_INIT float launchControlKi;
#endif #endif
#ifdef USE_INTEGRATED_YAW_CONTROL
static FAST_RAM_ZERO_INIT bool useIntegratedYaw; static FAST_RAM_ZERO_INIT bool useIntegratedYaw;
static FAST_RAM_ZERO_INIT uint8_t integratedYawRelax; static FAST_RAM_ZERO_INIT uint8_t integratedYawRelax;
#endif
void pidResetIterm(void) void pidResetIterm(void)
{ {
@ -577,8 +580,11 @@ void pidInitConfig(const pidProfile_t *pidProfile)
} }
launchControlKi = ITERM_SCALE * pidProfile->launchControlGain; launchControlKi = ITERM_SCALE * pidProfile->launchControlGain;
#endif #endif
#ifdef USE_INTEGRATED_YAW_CONTROL
useIntegratedYaw = pidProfile->use_integrated_yaw; useIntegratedYaw = pidProfile->use_integrated_yaw;
integratedYawRelax = pidProfile->integrated_yaw_relax; integratedYawRelax = pidProfile->integrated_yaw_relax;
#endif
} }
void pidInit(const pidProfile_t *pidProfile) void pidInit(const pidProfile_t *pidProfile)
@ -1248,10 +1254,13 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
#endif #endif
// calculating the PID sum // calculating the PID sum
const float pidSum = pidData[axis].P + pidData[axis].I + pidData[axis].D + pidData[axis].F; const float pidSum = pidData[axis].P + pidData[axis].I + pidData[axis].D + pidData[axis].F;
#ifdef USE_INTEGRATED_YAW_CONTROL
if (axis == FD_YAW && useIntegratedYaw) { if (axis == FD_YAW && useIntegratedYaw) {
pidData[axis].Sum += pidSum * dT * 100.0f; pidData[axis].Sum += pidSum * dT * 100.0f;
pidData[axis].Sum -= pidData[axis].Sum * integratedYawRelax / 100000.0f * dT / 0.000125f; pidData[axis].Sum -= pidData[axis].Sum * integratedYawRelax / 100000.0f * dT / 0.000125f;
} else { } else
#endif
{
pidData[axis].Sum = pidSum; pidData[axis].Sum = pidSum;
} }
} }

2
src/main/interface/settings.c
View file

@ -936,8 +936,10 @@ const clivalue_t valueTable[] = {
{ "abs_control_error_limit", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 1, 45 }, PG_PID_PROFILE, offsetof(pidProfile_t, abs_control_error_limit) }, { "abs_control_error_limit", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 1, 45 }, PG_PID_PROFILE, offsetof(pidProfile_t, abs_control_error_limit) },
#endif #endif
#ifdef USE_INTEGRATED_YAW_CONTROL
{ "use_integrated_yaw", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = {TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, use_integrated_yaw) }, { "use_integrated_yaw", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = {TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, use_integrated_yaw) },
{ "integrated_yaw_relax", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, integrated_yaw_relax) }, { "integrated_yaw_relax", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, integrated_yaw_relax) },
#endif
#ifdef USE_LAUNCH_CONTROL #ifdef USE_LAUNCH_CONTROL
{ "launch_control_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LAUNCH_CONTROL_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlMode) }, { "launch_control_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LAUNCH_CONTROL_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlMode) },

1
src/main/target/common_pre.h
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@ -196,6 +196,7 @@
#define USE_RC_SMOOTHING_FILTER #define USE_RC_SMOOTHING_FILTER
#define USE_ITERM_RELAX #define USE_ITERM_RELAX
#define USE_DYN_LPF #define USE_DYN_LPF
#define USE_INTEGRATED_YAW_CONTROL
#ifdef USE_SERIALRX_SPEKTRUM #ifdef USE_SERIALRX_SPEKTRUM
#define USE_SPEKTRUM_BIND #define USE_SPEKTRUM_BIND