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Extract BaroPID calculation into separate method.

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This reduces indentation level, separates method concerns, keeps logic
with method intent, removes the need for a comment and makes it
testable.
This commit is contained in:
Dominic Clifton 2014-05-05 18:07:20 +01:00
parent d352c68c9b
commit abde6bd276
1 changed files with 35 additions and 25 deletions
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60
src/flight_imu.c
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@ -361,17 +361,48 @@ bool isThrustFacingDownwards(rollAndPitchInclination_t *inclination)
return abs(inclination->angle.rollDeciDegrees) < DEGREES_80_IN_DECIDEGREES && abs(inclination->angle.pitchDeciDegrees) < DEGREES_80_IN_DECIDEGREES; return abs(inclination->angle.rollDeciDegrees) < DEGREES_80_IN_DECIDEGREES && abs(inclination->angle.pitchDeciDegrees) < DEGREES_80_IN_DECIDEGREES;
} }
int32_t calculateBaroPid(int32_t vel_tmp, float accZ_tmp, float accZ_old)
{
uint32_t baroPID = 0;
int32_t error;
int32_t setVel;
if (!isThrustFacingDownwards(&inclination)) {
return baroPID;
}
// Altitude P-Controller
error = constrain(AltHold - EstAlt, -500, 500);
error = applyDeadband(error, 10); // remove small P parametr to reduce noise near zero position
setVel = constrain((currentProfile.pidProfile.P8[PIDALT] * error / 128), -300, +300); // limit velocity to +/- 3 m/s
// Velocity PID-Controller
// P
error = setVel - vel_tmp;
baroPID = constrain((currentProfile.pidProfile.P8[PIDVEL] * error / 32), -300, +300);
// I
errorAltitudeI += (currentProfile.pidProfile.I8[PIDVEL] * error) / 8;
errorAltitudeI = constrain(errorAltitudeI, -(1024 * 200), (1024 * 200));
baroPID += errorAltitudeI / 1024; // I in range +/-200
// D
baroPID -= constrain(currentProfile.pidProfile.D8[PIDVEL] * (accZ_tmp + accZ_old) / 64, -150, 150);
return baroPID;
}
int getEstimatedAltitude(void) int getEstimatedAltitude(void)
{ {
static uint32_t previousT; static uint32_t previousT;
uint32_t currentT = micros(); uint32_t currentT = micros();
uint32_t dTime; uint32_t dTime;
int32_t error;
int32_t baroVel; int32_t baroVel;
int32_t vel_tmp;
int32_t setVel;
float dt; float dt;
float vel_acc; float vel_acc;
int32_t vel_tmp;
float accZ_tmp; float accZ_tmp;
static float accZ_old = 0.0f; static float accZ_old = 0.0f;
static float vel = 0.0f; static float vel = 0.0f;
@ -424,28 +455,7 @@ int getEstimatedAltitude(void)
// set vario // set vario
vario = applyDeadband(vel_tmp, 5); vario = applyDeadband(vel_tmp, 5);
// only calculate pid if the copters thrust is facing downwards BaroPID = calculateBaroPid(vel_tmp, accZ_tmp, accZ_old);
if (isThrustFacingDownwards(&inclination)) {
// Altitude P-Controller
error = constrain(AltHold - EstAlt, -500, 500);
error = applyDeadband(error, 10); // remove small P parametr to reduce noise near zero position
setVel = constrain((currentProfile.pidProfile.P8[PIDALT] * error / 128), -300, +300); // limit velocity to +/- 3 m/s
// Velocity PID-Controller
// P
error = setVel - vel_tmp;
BaroPID = constrain((currentProfile.pidProfile.P8[PIDVEL] * error / 32), -300, +300);
// I
errorAltitudeI += (currentProfile.pidProfile.I8[PIDVEL] * error) / 8;
errorAltitudeI = constrain(errorAltitudeI, -(1024 * 200), (1024 * 200));
BaroPID += errorAltitudeI / 1024; // I in range +/-200
// D
BaroPID -= constrain(currentProfile.pidProfile.D8[PIDVEL] * (accZ_tmp + accZ_old) / 64, -150, 150);
} else {
BaroPID = 0;
}
accZ_old = accZ_tmp; accZ_old = accZ_tmp;
return 1; return 1;