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Added PG config definitions 10

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This commit is contained in:
Martin Budden 2017-02-27 08:33:13 +00:00
parent 7440c6c7a1
commit 9b62a4e38f
16 changed files with 153 additions and 125 deletions
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112
src/main/flight/pid.c
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@ -29,9 +29,10 @@
#include "common/maths.h"
#include "common/filter.h"
#include "config/config_reset.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "config/config_reset.h"
#include "config/config_profile.h"
#include "fc/fc_core.h"
#include "fc/fc_rc.h"
@ -75,61 +76,72 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 0);
void resetPidProfile(pidProfile_t *pidProfile)
{
RESET_CONFIG(const pidProfile_t, pidProfile,
.P8[ROLL] = 44,
.I8[ROLL] = 40,
.D8[ROLL] = 20,
.P8[PITCH] = 58,
.I8[PITCH] = 50,
.D8[PITCH] = 22,
.P8[YAW] = 70,
.I8[YAW] = 45,
.D8[YAW] = 20,
.P8[PIDALT] = 50,
.I8[PIDALT] = 0,
.D8[PIDALT] = 0,
.P8[PIDPOS] = 15, // POSHOLD_P * 100,
.I8[PIDPOS] = 0, // POSHOLD_I * 100,
.D8[PIDPOS] = 0,
.P8[PIDPOSR] = 34, // POSHOLD_RATE_P * 10,
.I8[PIDPOSR] = 14, // POSHOLD_RATE_I * 100,
.D8[PIDPOSR] = 53, // POSHOLD_RATE_D * 1000,
.P8[PIDNAVR] = 25, // NAV_P * 10,
.I8[PIDNAVR] = 33, // NAV_I * 100,
.D8[PIDNAVR] = 83, // NAV_D * 1000,
.P8[PIDLEVEL] = 50,
.I8[PIDLEVEL] = 50,
.D8[PIDLEVEL] = 100,
.P8[PIDMAG] = 40,
.P8[PIDVEL] = 55,
.I8[PIDVEL] = 55,
.D8[PIDVEL] = 75,
.yaw_p_limit = YAW_P_LIMIT_MAX,
.pidSumLimit = PIDSUM_LIMIT,
.yaw_lpf_hz = 0,
.itermWindupPointPercent = 50,
.dterm_filter_type = FILTER_BIQUAD,
.dterm_lpf_hz = 100, // filtering ON by default
.dterm_notch_hz = 260,
.dterm_notch_cutoff = 160,
.vbatPidCompensation = 0,
.pidAtMinThrottle = PID_STABILISATION_ON,
.levelAngleLimit = 55,
.levelSensitivity = 55,
.setpointRelaxRatio = 20,
.dtermSetpointWeight = 100,
.yawRateAccelLimit = 10.0f,
.rateAccelLimit = 0.0f,
.itermThrottleThreshold = 350,
.itermAcceleratorGain = 1.0f
);
}
void pgResetFn_pidProfiles(pidProfile_t *pidProfiles)
{
for (int i = 0; i < MAX_PROFILE_COUNT; i++) {
RESET_CONFIG(const pidProfile_t, &pidProfiles[i],
.P8[ROLL] = 44,
.I8[ROLL] = 40,
.D8[ROLL] = 20,
.P8[PITCH] = 58,
.I8[PITCH] = 50,
.D8[PITCH] = 22,
.P8[YAW] = 70,
.I8[YAW] = 45,
.D8[YAW] = 20,
.P8[PIDALT] = 50,
.I8[PIDALT] = 0,
.D8[PIDALT] = 0,
.P8[PIDPOS] = 15, // POSHOLD_P * 100,
.I8[PIDPOS] = 0, // POSHOLD_I * 100,
.D8[PIDPOS] = 0,
.P8[PIDPOSR] = 34, // POSHOLD_RATE_P * 10,
.I8[PIDPOSR] = 14, // POSHOLD_RATE_I * 100,
.D8[PIDPOSR] = 53, // POSHOLD_RATE_D * 1000,
.P8[PIDNAVR] = 25, // NAV_P * 10,
.I8[PIDNAVR] = 33, // NAV_I * 100,
.D8[PIDNAVR] = 83, // NAV_D * 1000,
.P8[PIDLEVEL] = 50,
.I8[PIDLEVEL] = 50,
.D8[PIDLEVEL] = 100,
.P8[PIDMAG] = 40,
.P8[PIDVEL] = 55,
.I8[PIDVEL] = 55,
.D8[PIDVEL] = 75,
.yaw_p_limit = YAW_P_LIMIT_MAX,
.pidSumLimit = PIDSUM_LIMIT,
.yaw_lpf_hz = 0,
.itermWindupPointPercent = 50,
.dterm_filter_type = FILTER_BIQUAD,
.dterm_lpf_hz = 100, // filtering ON by default
.dterm_notch_hz = 260,
.dterm_notch_cutoff = 160,
.vbatPidCompensation = 0,
.pidAtMinThrottle = PID_STABILISATION_ON,
.levelAngleLimit = 55,
.levelSensitivity = 55,
.setpointRelaxRatio = 20,
.dtermSetpointWeight = 100,
.yawRateAccelLimit = 10.0f,
.rateAccelLimit = 0.0f,
.itermThrottleThreshold = 350,
.itermAcceleratorGain = 1.0f
);
resetPidProfile(&pidProfiles[i]);
}
}
#ifdef USE_PARAMETER_GROUPS
void resetProfile(profile_t *profile)
{
resetPidProfile(&profile->pidProfile);
}
#endif
void pidSetTargetLooptime(uint32_t pidLooptime)
{
targetPidLooptime = pidLooptime;