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Remove yaw gyro scale for AlienWii 32 target, additional PID controllers

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BLACKBOX support
This commit is contained in:
Michael Jakob 2015-01-21 23:00:09 +01:00
parent 190e4c328d
commit 97b4b786d1
1 changed files with 20 additions and 0 deletions
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20
src/main/flight/flight.c
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@ -359,7 +359,11 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
//YAW //YAW
rc = (int32_t)rcCommand[FD_YAW] * (2 * controlRateConfig->yawRate + 30) >> 5; rc = (int32_t)rcCommand[FD_YAW] * (2 * controlRateConfig->yawRate + 30) >> 5;
#ifdef ALIENWII32
error = rc - gyroData[FD_YAW];
#else
error = rc - (gyroData[FD_YAW] / 4); error = rc - (gyroData[FD_YAW] / 4);
#endif
errorGyroI[FD_YAW] += (int32_t)error * pidProfile->I8[FD_YAW]; errorGyroI[FD_YAW] += (int32_t)error * pidProfile->I8[FD_YAW];
errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW], 2 - ((int32_t)1 << 28), -2 + ((int32_t)1 << 28)); errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW], 2 - ((int32_t)1 << 28), -2 + ((int32_t)1 << 28));
if (abs(rc) > 50) errorGyroI[FD_YAW] = 0; if (abs(rc) > 50) errorGyroI[FD_YAW] = 0;
@ -375,6 +379,12 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
ITerm = constrain((int16_t)(errorGyroI[FD_YAW] >> 13), -GYRO_I_MAX, +GYRO_I_MAX); ITerm = constrain((int16_t)(errorGyroI[FD_YAW] >> 13), -GYRO_I_MAX, +GYRO_I_MAX);
axisPID[FD_YAW] = PTerm + ITerm; axisPID[FD_YAW] = PTerm + ITerm;
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;
axisPID_I[axis] = ITerm;
axisPID_D[axis] = DTerm;
#endif
} }
static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
@ -454,7 +464,11 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
} }
//YAW //YAW
rc = (int32_t)rcCommand[FD_YAW] * (2 * controlRateConfig->yawRate + 30) >> 5; rc = (int32_t)rcCommand[FD_YAW] * (2 * controlRateConfig->yawRate + 30) >> 5;
#ifdef ALIENWII32
error = rc - gyroData[FD_YAW];
#else
error = rc - (gyroData[FD_YAW] / 4); error = rc - (gyroData[FD_YAW] / 4);
#endif
errorGyroI[FD_YAW] += (int32_t)error * pidProfile->I8[FD_YAW]; errorGyroI[FD_YAW] += (int32_t)error * pidProfile->I8[FD_YAW];
errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW], 2 - ((int32_t)1 << 28), -2 + ((int32_t)1 << 28)); errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW], 2 - ((int32_t)1 << 28), -2 + ((int32_t)1 << 28));
if (abs(rc) > 50) errorGyroI[FD_YAW] = 0; if (abs(rc) > 50) errorGyroI[FD_YAW] = 0;
@ -470,6 +484,12 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
ITerm = constrain((int16_t)(errorGyroI[FD_YAW] >> 13), -GYRO_I_MAX, +GYRO_I_MAX); ITerm = constrain((int16_t)(errorGyroI[FD_YAW] >> 13), -GYRO_I_MAX, +GYRO_I_MAX);
axisPID[FD_YAW] = PTerm + ITerm; axisPID[FD_YAW] = PTerm + ITerm;
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;
axisPID_I[axis] = ITerm;
axisPID_D[axis] = DTerm;
#endif
} }
static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination, static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,