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Jitter enhancements

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borisbstyle 2015-09-20 23:55:22 +02:00
parent d8e62d0508
commit af6f9de903
2 changed files with 6 additions and 4 deletions
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7
src/main/flight/pid.c
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@ -29,6 +29,7 @@
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/gyro_sync.h"
#include "sensors/sensors.h"
#include "sensors/gyro.h"
@ -210,7 +211,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
delta = filterApplyPt1(delta, &DTermState[axis], pidProfile->dterm_cut_hz, dT);
}
DTerm = constrainf((delta / 3) * pidProfile->D_f[axis] * PIDweight[axis] / 100, -300.0f, 300.0f);
DTerm = constrainf(delta * pidProfile->D_f[axis] * PIDweight[axis] / 100, -300.0f, 300.0f);
// -----calculate total PID output
axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -1000, 1000);
@ -755,7 +756,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
// Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.
// Time correction (to avoid different I scaling for different builds based on average cycle time)
// is normalized to cycle time = 2048.
errorGyroI[axis] = errorGyroI[axis] + ((RateError * cycleTime) >> 11) * pidProfile->I8[axis];
errorGyroI[axis] = errorGyroI[axis] + ((RateError * (uint16_t)targetLooptime) >> 11) * pidProfile->I8[axis];
// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
// I coefficient (I8) moved before integration to make limiting independent from PID settings
@ -768,7 +769,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
// Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
// would be scaled by different dt each time. Division by dT fixes that.
delta = (delta * ((uint16_t) 0xFFFF / (cycleTime >> 4))) >> 6;
delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetLooptime >> 4))) >> 6;
// Dterm delta low pass
if (pidProfile->dterm_cut_hz) {