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Merge pull request #9759 from etracer65/pid_init_separate

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Split initialization from pid.c for flash savings
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Michael Keller 2020-06-22 00:35:42 +12:00 • committed by GitHub
commit a8085bef8b
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16 changed files with 798 additions and 710 deletions
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156
src/main/flight/pid.h
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@ -24,6 +24,7 @@
#include "common/time.h"
#include "common/filter.h"
#include "common/axis.h"
#include "pg/pg.h"
#define MAX_PID_PROCESS_DENOM 16
@ -107,6 +108,14 @@ typedef enum {
ITERM_RELAX_TYPE_COUNT,
} itermRelaxType_e;
typedef enum ffInterpolationType_e {
FF_INTERPOLATE_OFF,
FF_INTERPOLATE_ON,
FF_INTERPOLATE_AVG2,
FF_INTERPOLATE_AVG3,
FF_INTERPOLATE_AVG4
} ffInterpolationType_t;
#define MAX_PROFILE_NAME_LENGTH 8u
typedef struct pidProfile_s {
@ -218,6 +227,147 @@ typedef struct pidAxisData_s {
float Sum;
} pidAxisData_t;
typedef union dtermLowpass_u {
pt1Filter_t pt1Filter;
biquadFilter_t biquadFilter;
} dtermLowpass_t;
typedef struct pidCoefficient_s {
float Kp;
float Ki;
float Kd;
float Kf;
} pidCoefficient_t;
typedef struct pidRuntime_s {
float dT;
float pidFrequency;
bool pidStabilisationEnabled;
float previousPidSetpoint[XYZ_AXIS_COUNT];
filterApplyFnPtr dtermNotchApplyFn;
biquadFilter_t dtermNotch[XYZ_AXIS_COUNT];
filterApplyFnPtr dtermLowpassApplyFn;
dtermLowpass_t dtermLowpass[XYZ_AXIS_COUNT];
filterApplyFnPtr dtermLowpass2ApplyFn;
dtermLowpass_t dtermLowpass2[XYZ_AXIS_COUNT];
filterApplyFnPtr ptermYawLowpassApplyFn;
pt1Filter_t ptermYawLowpass;
bool antiGravityEnabled;
uint8_t antiGravityMode;
pt1Filter_t antiGravityThrottleLpf;
float antiGravityOsdCutoff;
float antiGravityThrottleHpf;
float ffBoostFactor;
float ffSpikeLimitInverse;
float itermAccelerator;
uint16_t itermAcceleratorGain;
float feedForwardTransition;
pidCoefficient_t pidCoefficient[XYZ_AXIS_COUNT];
float levelGain;
float horizonGain;
float horizonTransition;
float horizonCutoffDegrees;
float horizonFactorRatio;
uint8_t horizonTiltExpertMode;
float maxVelocity[XYZ_AXIS_COUNT];
float itermWindupPointInv;
bool inCrashRecoveryMode;
timeUs_t crashDetectedAtUs;
timeDelta_t crashTimeLimitUs;
timeDelta_t crashTimeDelayUs;
int32_t crashRecoveryAngleDeciDegrees;
float crashRecoveryRate;
float crashGyroThreshold;
float crashDtermThreshold;
float crashSetpointThreshold;
float crashLimitYaw;
float itermLimit;
bool itermRotation;
bool zeroThrottleItermReset;
bool levelRaceMode;
#ifdef USE_ITERM_RELAX
pt1Filter_t windupLpf[XYZ_AXIS_COUNT];
uint8_t itermRelax;
uint8_t itermRelaxType;
uint8_t itermRelaxCutoff;
#endif
#ifdef USE_ABSOLUTE_CONTROL
float acCutoff;
float acGain;
float acLimit;
float acErrorLimit;
pt1Filter_t acLpf[XYZ_AXIS_COUNT];
float oldSetpointCorrection[XYZ_AXIS_COUNT];
#endif
#ifdef USE_D_MIN
biquadFilter_t dMinRange[XYZ_AXIS_COUNT];
pt1Filter_t dMinLowpass[XYZ_AXIS_COUNT];
float dMinPercent[XYZ_AXIS_COUNT];
float dMinGyroGain;
float dMinSetpointGain;
#endif
#ifdef USE_AIRMODE_LPF
pt1Filter_t airmodeThrottleLpf1;
pt1Filter_t airmodeThrottleLpf2;
#endif
#ifdef USE_RC_SMOOTHING_FILTER
pt1Filter_t setpointDerivativePt1[XYZ_AXIS_COUNT];
biquadFilter_t setpointDerivativeBiquad[XYZ_AXIS_COUNT];
bool setpointDerivativeLpfInitialized;
uint8_t rcSmoothingDebugAxis;
uint8_t rcSmoothingFilterType;
#endif // USE_RC_SMOOTHING_FILTER
#ifdef USE_ACRO_TRAINER
float acroTrainerAngleLimit;
float acroTrainerLookaheadTime;
uint8_t acroTrainerDebugAxis;
float acroTrainerGain;
bool acroTrainerActive;
int acroTrainerAxisState[2]; // only need roll and pitch
#endif
#ifdef USE_DYN_LPF
uint8_t dynLpfFilter;
uint16_t dynLpfMin;
uint16_t dynLpfMax;
uint8_t dynLpfCurveExpo;
#endif
#ifdef USE_LAUNCH_CONTROL
uint8_t launchControlMode;
uint8_t launchControlAngleLimit;
float launchControlKi;
#endif
#ifdef USE_INTEGRATED_YAW_CONTROL
bool useIntegratedYaw;
uint8_t integratedYawRelax;
#endif
#ifdef USE_THRUST_LINEARIZATION
float thrustLinearization;
float thrustLinearizationReciprocal;
float thrustLinearizationB;
#endif
#ifdef USE_AIRMODE_LPF
float airmodeThrottleOffsetLimit;
#endif
#ifdef USE_INTERPOLATED_SP
ffInterpolationType_t ffFromInterpolatedSetpoint;
float ffSmoothFactor;
#endif
} pidRuntime_t;
extern pidRuntime_t pidRuntime;
extern const char pidNames[];
extern pidAxisData_t pidData[3];
@ -230,15 +380,9 @@ extern pt1Filter_t throttleLpf;
void pidResetIterm(void);
void pidStabilisationState(pidStabilisationState_e pidControllerState);
void pidSetItermAccelerator(float newItermAccelerator);
void pidInitFilters(const pidProfile_t *pidProfile);
void pidInitConfig(const pidProfile_t *pidProfile);
void pidInit(const pidProfile_t *pidProfile);
void pidCopyProfile(uint8_t dstPidProfileIndex, uint8_t srcPidProfileIndex);
bool crashRecoveryModeActive(void);
void pidAcroTrainerInit(void);
void pidSetAcroTrainerState(bool newState);
void pidInitSetpointDerivativeLpf(uint16_t filterCutoff, uint8_t debugAxis, uint8_t filterType);
void pidUpdateSetpointDerivativeLpf(uint16_t filterCutoff);
void pidUpdateAntiGravityThrottleFilter(float throttle);
bool pidOsdAntiGravityActive(void);
bool pidOsdAntiGravityMode(void);