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Merge pull request #9544 from etracer65/simplify_pid_motor_pwm_validation

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Simplify and improve motor protocol PID loop limiting
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Michael Keller 2020-03-07 15:56:22 +13:00 • committed by GitHub
commit a67df68f2c
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1 changed files with 41 additions and 46 deletions
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23
src/main/config/config.c
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@ -582,19 +582,8 @@ void validateAndFixGyroConfig(void)
} }
#endif #endif
float samplingTime; if (gyro.sampleRateHz > 0) {
switch (gyroMpuDetectionResult()->sensor) { float samplingTime = 1.0f / gyro.sampleRateHz;
case ICM_20649_SPI:
samplingTime = 1.0f / 9000.0f;
break;
case BMI_160_SPI:
samplingTime = 0.0003125f;
break;
default:
samplingTime = 0.000125f;
break;
}
// check for looptime restrictions based on motor protocol. Motor times have safety margin // check for looptime restrictions based on motor protocol. Motor times have safety margin
float motorUpdateRestriction; float motorUpdateRestriction;
@ -630,10 +619,16 @@ void validateAndFixGyroConfig(void)
} else { } else {
const float pidLooptime = samplingTime * pidConfig()->pid_process_denom; const float pidLooptime = samplingTime * pidConfig()->pid_process_denom;
if (pidLooptime < motorUpdateRestriction) { if (pidLooptime < motorUpdateRestriction) {
const uint8_t minPidProcessDenom = constrain(motorUpdateRestriction / samplingTime, 1, MAX_PID_PROCESS_DENOM); uint8_t minPidProcessDenom = motorUpdateRestriction / samplingTime;
if (motorUpdateRestriction / samplingTime > minPidProcessDenom) {
// if any fractional part then round up
minPidProcessDenom++;
}
minPidProcessDenom = constrain(minPidProcessDenom, 1, MAX_PID_PROCESS_DENOM);
pidConfigMutable()->pid_process_denom = MAX(pidConfigMutable()->pid_process_denom, minPidProcessDenom); pidConfigMutable()->pid_process_denom = MAX(pidConfigMutable()->pid_process_denom, minPidProcessDenom);
} }
} }
}
#ifdef USE_GYRO_DATA_ANALYSE #ifdef USE_GYRO_DATA_ANALYSE
// Disable dynamic filter if gyro loop is less than 2KHz // Disable dynamic filter if gyro loop is less than 2KHz