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Accumulation Prevention in Saturation for AIR Mode // Refactoring

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Adjust shrink threshold for errorRatio
This commit is contained in:
borisbstyle 2015-12-09 13:08:00 +01:00
parent 6a4682908f
commit 9ec26626b7
2 changed files with 22 additions and 23 deletions
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10
src/main/flight/pid.c
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@ -48,7 +48,7 @@
#include "config/runtime_config.h"
extern float dT;
extern float rpy_limiting;
extern float totalErrorRatioLimit;
extern bool allowITermShrinkOnly;
#define CALC_OFFSET(x) ( (x > 0) ? x : -x )
@ -163,7 +163,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
RateError = AngleRate - gyroRate;
if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
RateError = RateError * rpy_limiting;
RateError = RateError * totalErrorRatioLimit;
}
// -----calculate P component
@ -176,7 +176,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// -----calculate I component.
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f);
if (allowITermShrinkOnly) {
if (allowITermShrinkOnly || totalErrorRatioLimit < 0.98f) {
if (CALC_OFFSET(errorGyroIf[axis]) < CALC_OFFSET(previousErrorGyroIf[axis])) {
previousErrorGyroIf[axis] = errorGyroIf[axis];
} else {
@ -294,7 +294,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
RateError = AngleRateTmp - (gyroADC[axis] / 4);
if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
RateError = RateError * rpy_limiting;
RateError = RateError * totalErrorRatioLimit;
}
// -----calculate P component
@ -317,7 +317,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
ITerm = errorGyroI[axis] >> 13;
if (allowITermShrinkOnly) {
if (allowITermShrinkOnly || totalErrorRatioLimit < 0.98f) {
if (CALC_OFFSET(errorGyroI[axis]) < CALC_OFFSET(previousErrorGyroI[axis])) {
previousErrorGyroI[axis] = errorGyroI[axis];
} else {