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adjust pids and smoothing; smoothing cutoff to settings

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This commit is contained in:
ctzsnooze 2024-10-12 12:00:11 +11:00
parent 9b76715835
commit 996d6ee379
5 changed files with 10 additions and 9 deletions
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1
src/main/cli/settings.c
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@ -1859,6 +1859,7 @@ const clivalue_t valueTable[] = {
{ PARAM_NAME_POSITION_I, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, position_I) }, { PARAM_NAME_POSITION_I, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, position_I) },
{ PARAM_NAME_POSITION_D, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, position_D) }, { PARAM_NAME_POSITION_D, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, position_D) },
{ PARAM_NAME_POSITION_J, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, position_J) }, { PARAM_NAME_POSITION_J, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, position_J) },
{ PARAM_NAME_POSITION_CUTOFF, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 10, 250 }, PG_AUTOPILOT, offsetof(autopilotConfig_t, position_cutoff) },
// PG_MODE_ACTIVATION_CONFIG // PG_MODE_ACTIVATION_CONFIG
#if defined(USE_CUSTOM_BOX_NAMES) #if defined(USE_CUSTOM_BOX_NAMES)

1
src/main/fc/parameter_names.h
View file

@ -172,6 +172,7 @@
#define PARAM_NAME_POSITION_I "autopilot_position_I" #define PARAM_NAME_POSITION_I "autopilot_position_I"
#define PARAM_NAME_POSITION_D "autopilot_position_D" #define PARAM_NAME_POSITION_D "autopilot_position_D"
#define PARAM_NAME_POSITION_J "autopilot_position_J" #define PARAM_NAME_POSITION_J "autopilot_position_J"
#define PARAM_NAME_POSITION_CUTOFF "autopilot_position_cutoff"
#define PARAM_NAME_AP_DEADBAND "autopilot_deadband" // from rcControlsConfig #define PARAM_NAME_AP_DEADBAND "autopilot_deadband" // from rcControlsConfig
#define PARAM_NAME_ANGLE_FEEDFORWARD "angle_feedforward" #define PARAM_NAME_ANGLE_FEEDFORWARD "angle_feedforward"

11
src/main/flight/autopilot.c
View file

@ -37,10 +37,10 @@
#define ALTITUDE_I_SCALE 0.003f #define ALTITUDE_I_SCALE 0.003f
#define ALTITUDE_D_SCALE 0.01f #define ALTITUDE_D_SCALE 0.01f
#define ALTITUDE_F_SCALE 0.01f #define ALTITUDE_F_SCALE 0.01f
#define POSITION_P_SCALE 0.001f #define POSITION_P_SCALE 0.003f
#define POSITION_I_SCALE 0.0003f #define POSITION_I_SCALE 0.0f
#define POSITION_D_SCALE 0.005f #define POSITION_D_SCALE 0.003f
#define POSITION_J_SCALE 0.005f #define POSITION_J_SCALE 0.002f
static pidCoefficient_t altitudePidCoeffs; static pidCoefficient_t altitudePidCoeffs;
static float altitudeI = 0.0f; static float altitudeI = 0.0f;
@ -70,8 +70,7 @@ void autopilotInit(const autopilotConfig_t *config)
positionPidCoeffs.Ki = config->position_I * POSITION_I_SCALE; positionPidCoeffs.Ki = config->position_I * POSITION_I_SCALE;
positionPidCoeffs.Kd = config->position_D * POSITION_D_SCALE; positionPidCoeffs.Kd = config->position_D * POSITION_D_SCALE;
positionPidCoeffs.Kf = config->position_J * POSITION_J_SCALE; // Kf used for acceleration positionPidCoeffs.Kf = config->position_J * POSITION_J_SCALE; // Kf used for acceleration
positionLpfCutoffHz = config->position_cutoff / 100.0f;
positionLpfCutoffHz = config->position_filter_hz / 100.0f;
const float gain = pt1FilterGain(positionLpfCutoffHz, 0.1f); // assume 10Hz GPS connection at start const float gain = pt1FilterGain(positionLpfCutoffHz, 0.1f); // assume 10Hz GPS connection at start
pt1FilterInit(&velocityPitchLpf, gain); pt1FilterInit(&velocityPitchLpf, gain);
pt1FilterInit(&accelerationPitchLpf, gain); pt1FilterInit(&accelerationPitchLpf, gain);

4
src/main/pg/autopilot.c
View file

@ -39,8 +39,8 @@ PG_RESET_TEMPLATE(autopilotConfig_t, autopilotConfig,
.altitude_D = 15, .altitude_D = 15,
.altitude_F = 15, .altitude_F = 15,
.position_P = 15, .position_P = 15,
.position_I = 15, .position_I = 0,
.position_D = 15, .position_D = 15,
.position_J = 15, .position_J = 15,
.position_filter_hz = 75, .position_cutoff = 100,
); );

2
src/main/pg/autopilot.h
View file

@ -37,7 +37,7 @@ typedef struct autopilotConfig_s {
uint8_t position_I; uint8_t position_I;
uint8_t position_D; uint8_t position_D;
uint8_t position_J; uint8_t position_J;
uint8_t position_filter_hz; uint8_t position_cutoff;
} autopilotConfig_t; } autopilotConfig_t;
PG_DECLARE(autopilotConfig_t, autopilotConfig); PG_DECLARE(autopilotConfig_t, autopilotConfig);