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Code Issues Wiki Activity

Harakiri PID controller make hardcoded parameters configurable

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This commit is contained in:
Michael Jakob 2015-02-26 20:40:28 +01:00
parent 9f95334347
commit b20dc77a74
4 changed files with 14 additions and 2 deletions
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8
src/main/flight/pid.c
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@ -577,7 +577,11 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
uint8_t axis;
float ACCDeltaTimeINS, FLOATcycleTime, Mwii3msTimescale;
MainDptCut = RCconstPI / constrain(pidProfile->dterm_cut_hz, 1, 50); // maincuthz (default 0 (disabled), Range 1-50Hz)
if (pidProfile->dterm_cut_hz) {
MainDptCut = RCconstPI / constrain(pidProfile->dterm_cut_hz, 1, 50); // dterm_cut_hz (default 0, Range 1-50Hz)
} else {
MainDptCut = RCconstPI / 12.0f; // default is 12Hz to maintain initial behavior of PID5
}
FLOATcycleTime = (float)constrain(cycleTime, 1, 100000); // 1us - 100ms
ACCDeltaTimeINS = FLOATcycleTime * 0.000001f; // ACCDeltaTimeINS is in seconds now
RCfactor = ACCDeltaTimeINS / (MainDptCut + ACCDeltaTimeINS); // used for pt1 element
@ -589,7 +593,7 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
for (axis = 0; axis < 2; axis++) {
int32_t tmp = (int32_t)((float)gyroADC[axis] * 0.3125f); // Multiwii masks out the last 2 bits, this has the same idea
gyroADCQuant = (float)tmp * 3.2f; // but delivers more accuracy and also reduces jittery flight
rcCommandAxis = (float)rcCommand[axis]; // Calculate common values for pid controllers
rcCommandAxis = (float)rcCommand[axis]; // Calculate common values for pid controllers
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
#ifdef GPS
error = constrain(2.0f * rcCommandAxis + GPS_angle[axis], -((int) max_angle_inclination), +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];