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Replace yaw_jump_prevention_limit by D gain for yaw // new defaults based on flight tests

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borisbstyle 2016-05-24 21:47:57 +02:00
parent df6d564a9d
commit aa61bd4fb4
6 changed files with 34 additions and 26 deletions
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31
src/main/flight/pid.c
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@ -231,7 +231,15 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_
//-----calculate D-term
if (axis == YAW) {
if (pidProfile->yaw_lpf_hz) PTerm = filterApplyPt1(PTerm, &yawFilterState, pidProfile->yaw_lpf_hz, getdT());
DTerm = 0;
axisPID[axis] = lrintf(PTerm + ITerm);
if (motorCount >= 4) {
int16_t yaw_jump_prevention_limit = constrain(YAW_JUMP_PREVENTION_LIMIT_HIGH - (pidProfile->D8[axis] << 3), YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH);
// prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
}
} else {
delta = -(gyroRate - lastRate[axis]);
lastRate[axis] = gyroRate;
@ -243,10 +251,10 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_
if (pidProfile->dterm_lpf_hz) delta = filterApplyPt1(delta, &deltaFilterState[axis], pidProfile->dterm_lpf_hz, getdT());
DTerm = constrainf(luxDTermScale * delta * (float)pidProfile->D8[axis] * tpaFactor, -300.0f, 300.0f);
}
// -----calculate total PID output
axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -1000, 1000);
// -----calculate total PID output
axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -1000, 1000);
}
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
@ -354,7 +362,15 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
//-----calculate D-term
if (axis == YAW) {
if (pidProfile->yaw_lpf_hz) PTerm = filterApplyPt1(PTerm, &yawFilterState, pidProfile->yaw_lpf_hz, getdT());
DTerm = 0;
axisPID[axis] = PTerm + ITerm;
if (motorCount >= 4) {
int16_t yaw_jump_prevention_limit = constrain(YAW_JUMP_PREVENTION_LIMIT_HIGH - (pidProfile->D8[axis] << 3), YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH);
// prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
}
} else {
delta = -(gyroRate - lastRate[axis]);
lastRate[axis] = gyroRate;
@ -366,10 +382,11 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
if (pidProfile->dterm_lpf_hz) delta = filterApplyPt1((float)delta, &deltaFilterState[axis], pidProfile->dterm_lpf_hz, getdT());
DTerm = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
// -----calculate total PID output
axisPID[axis] = PTerm + ITerm + DTerm;
}
// -----calculate total PID output
axisPID[axis] = PTerm + ITerm + DTerm;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {