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Code Issues Wiki Activity

G-Tune fix for PID controller 2 (LuxFloat)

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This commit is contained in:
Michael Jakob 2015-05-09 16:41:26 +02:00
parent a8aad05c5a
commit afed9a5bba
1 changed files with 7 additions and 11 deletions
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18
src/main/flight/gtune.c
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@ -107,18 +107,18 @@ void init_Gtune(pidProfile_t *pidProfileToTune)
pidProfile = pidProfileToTune; pidProfile = pidProfileToTune;
if (pidProfile->pidController == 2) { if (pidProfile->pidController == 2) {
floatPID = true; // LuxFloat is using float values for PID settings floatPID = true; // LuxFloat is using float values for PID settings
} else { } else {
floatPID = false; floatPID = false;
} }
updateDelayCycles(); updateDelayCycles();
for (i = 0; i < 3; i++) { for (i = 0; i < 3; i++) {
if ((pidProfile->gtune_hilimP[i] && pidProfile->gtune_lolimP[i] > pidProfile->gtune_hilimP[i]) || (motorCount < 4 && i == FD_YAW)) { // User config error disable axisis for tuning if ((pidProfile->gtune_hilimP[i] && pidProfile->gtune_lolimP[i] > pidProfile->gtune_hilimP[i]) || (motorCount < 4 && i == FD_YAW)) { // User config error disable axisis for tuning
pidProfile->gtune_hilimP[i] = 0; // Disable yawtuning for everything below a quadcopter pidProfile->gtune_hilimP[i] = 0; // Disable YAW tuning for everything below a quadcopter
} }
if (floatPID) { if (floatPID) {
if((pidProfile->P_f[i] * 10) < pidProfile->gtune_lolimP[i]) { if((pidProfile->P_f[i] * 10.0f) < pidProfile->gtune_lolimP[i]) {
pidProfile->P_f[i] = (float)(pidProfile->gtune_lolimP[i] / 10); pidProfile->P_f[i] = (float)(pidProfile->gtune_lolimP[i] / 10.0f);
} }
result_P64[i] = (int16_t)pidProfile->P_f[i] << 6; // 6 bit extra resolution for P. result_P64[i] = (int16_t)pidProfile->P_f[i] << 6; // 6 bit extra resolution for P.
} else { } else {
@ -164,7 +164,7 @@ void calculate_Gtune(uint8_t axis)
if ((error > 0 && OldError[axis] > 0) || (error < 0 && OldError[axis] < 0)) { if ((error > 0 && OldError[axis] > 0) || (error < 0 && OldError[axis] < 0)) {
if (diff_G > threshP) { if (diff_G > threshP) {
if (axis == FD_YAW) { if (axis == FD_YAW) {
result_P64[axis] += 256 + pidProfile->gtune_pwr; // YAW ends up at low limit on PID2, give it some more to work with. result_P64[axis] += 256 + pidProfile->gtune_pwr; // YAW ends up at low limit on float PID, give it some more to work with.
} else { } else {
result_P64[axis] += 64 + pidProfile->gtune_pwr; // Shift balance a little on the plus side. result_P64[axis] += 64 + pidProfile->gtune_pwr; // Shift balance a little on the plus side.
} }
@ -190,17 +190,13 @@ void calculate_Gtune(uint8_t axis)
eventData.gtuneAxis = axis; eventData.gtuneAxis = axis;
eventData.gtuneGyroAVG = AvgGyro[axis]; eventData.gtuneGyroAVG = AvgGyro[axis];
if (floatPID) { eventData.gtuneNewP = newP; // for float PID the logged P value is still mutiplyed by 10
eventData.gtuneNewP = newP / 10;
} else {
eventData.gtuneNewP = newP;
}
blackboxLogEvent(FLIGHT_LOG_EVENT_GTUNE_RESULT, (flightLogEventData_t*)&eventData); blackboxLogEvent(FLIGHT_LOG_EVENT_GTUNE_RESULT, (flightLogEventData_t*)&eventData);
} }
#endif #endif
if (floatPID) { if (floatPID) {
pidProfile->P_f[axis] = (float)(newP / 10); // new P value for float PID pidProfile->P_f[axis] = (float)newP / 10.0f; // new P value for float PID
} else { } else {
pidProfile->P8[axis] = newP; // new P value pidProfile->P8[axis] = newP; // new P value
} }