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PT2 and PT3 filter maths PT3 for RC smoothing

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This commit is contained in:
ctzsnooze 2021-04-26 11:18:11 +10:00 • committed by mikeller
parent a5d0f7e457
commit a096c99664
14 changed files with 132 additions and 165 deletions
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32
src/main/flight/pid_init.c
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@ -222,37 +222,22 @@ void pidInit(const pidProfile_t *pidProfile)
}
#ifdef USE_RC_SMOOTHING_FILTER
void pidInitSetpointDerivativeLpf(uint16_t filterCutoff, uint8_t debugAxis, uint8_t filterType)
void pidInitSetpointDerivativeLpf(uint16_t filterCutoff, uint8_t debugAxis)
{
pidRuntime.rcSmoothingDebugAxis = debugAxis;
pidRuntime.rcSmoothingFilterType = filterType;
if ((filterCutoff > 0) && (pidRuntime.rcSmoothingFilterType != RC_SMOOTHING_DERIVATIVE_OFF)) {
if (filterCutoff > 0) {
pidRuntime.setpointDerivativeLpfInitialized = true;
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
switch (pidRuntime.rcSmoothingFilterType) {
case RC_SMOOTHING_DERIVATIVE_PT1:
pt1FilterInit(&pidRuntime.setpointDerivativePt1[axis], pt1FilterGain(filterCutoff, pidRuntime.dT));
break;
case RC_SMOOTHING_DERIVATIVE_BIQUAD:
biquadFilterInitLPF(&pidRuntime.setpointDerivativeBiquad[axis], filterCutoff, targetPidLooptime);
break;
}
pt3FilterInit(&pidRuntime.setpointDerivativePt3[axis], pt3FilterGain(filterCutoff, pidRuntime.dT));
}
}
}
void pidUpdateSetpointDerivativeLpf(uint16_t filterCutoff)
{
if ((filterCutoff > 0) && (pidRuntime.rcSmoothingFilterType != RC_SMOOTHING_DERIVATIVE_OFF)) {
if (filterCutoff > 0) {
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
switch (pidRuntime.rcSmoothingFilterType) {
case RC_SMOOTHING_DERIVATIVE_PT1:
pt1FilterUpdateCutoff(&pidRuntime.setpointDerivativePt1[axis], pt1FilterGain(filterCutoff, pidRuntime.dT));
break;
case RC_SMOOTHING_DERIVATIVE_BIQUAD:
biquadFilterUpdateLPF(&pidRuntime.setpointDerivativeBiquad[axis], filterCutoff, targetPidLooptime);
break;
}
pt3FilterUpdateCutoff(&pidRuntime.setpointDerivativePt3[axis], pt3FilterGain(filterCutoff, pidRuntime.dT));
}
}
}
@ -401,7 +386,12 @@ void pidInitConfig(const pidProfile_t *pidProfile)
#ifdef USE_INTERPOLATED_SP
pidRuntime.ffFromInterpolatedSetpoint = pidProfile->ff_interpolate_sp;
pidRuntime.ffSmoothFactor = 1.0f - ((float)pidProfile->ff_smooth_factor) / 100.0f;
if (pidProfile->ff_smooth_factor) {
pidRuntime.ffSmoothFactor = 1.0f - ((float)pidProfile->ff_smooth_factor) / 100.0f;
} else {
// set automatically according to boost amount, limit to 0.5 for auto
pidRuntime.ffSmoothFactor = MAX(0.5f, 1.0f - ((float)pidProfile->ff_boost) * 2.0f / 100.0f);
}
interpolatedSpInit(pidProfile);
#endif