Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-14 20:10:18 +03:00
Code Issues Wiki Activity

Merge pull request #9481 from phobos-/nfe-racemode

Browse source 
NFE Race Mode
This commit is contained in:
Michael Keller 2020-02-17 08:08:59 +13:00 • committed by GitHub
commit b96649ef76
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
4 changed files with 13 additions and 3 deletions
Download patch file Download diff file Expand all files Collapse all files

1
src/main/cli/settings.c
View file

@ -1114,6 +1114,7 @@ const clivalue_t valueTable[] = {
{ "idle_pid_limit", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 10, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, idle_pid_limit) },
{ "idle_max_increase", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, idle_max_increase) },
#endif
{ "level_race_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, level_race_mode) },
// PG_TELEMETRY_CONFIG
#ifdef USE_TELEMETRY

11
src/main/flight/pid.c
View file

@ -130,7 +130,7 @@ static FAST_RAM_ZERO_INIT float airmodeThrottleOffsetLimit;
#define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 13);
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 14);
void resetPidProfile(pidProfile_t *pidProfile)
{
@ -218,6 +218,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.ff_smooth_factor = 37,
.ff_boost = 15,
.dyn_lpf_curve_expo = 0,
.level_race_mode = false,
);
#ifndef USE_D_MIN
pidProfile->pid[PID_ROLL].D = 30;
@ -553,6 +554,8 @@ static FAST_RAM_ZERO_INIT bool useIntegratedYaw;
static FAST_RAM_ZERO_INIT uint8_t integratedYawRelax;
#endif
static FAST_RAM_ZERO_INIT bool levelRaceMode;
void pidResetIterm(void)
{
for (int axis = 0; axis < 3; axis++) {
@ -751,6 +754,8 @@ void pidInitConfig(const pidProfile_t *pidProfile)
ffSmoothFactor = 1.0f - ((float)pidProfile->ff_smooth_factor) / 100.0f;
interpolatedSpInit(pidProfile);
#endif
levelRaceMode = pidProfile->level_race_mode;
}
void pidInit(const pidProfile_t *pidProfile)
@ -1294,6 +1299,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
#if defined(USE_ACC)
const bool gpsRescueIsActive = FLIGHT_MODE(GPS_RESCUE_MODE);
const bool levelModeActive = FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE) || gpsRescueIsActive;
const bool levelRaceModeActive = levelRaceMode && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && !gpsRescueIsActive;
// Keep track of when we entered a self-level mode so that we can
// add a guard time before crash recovery can activate.
@ -1356,8 +1362,9 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
currentPidSetpoint = accelerationLimit(axis, currentPidSetpoint);
}
// Yaw control is GYRO based, direct sticks control is applied to rate PID
// When Race Mode is active PITCH control is also GYRO based in level or horizon mode
#if defined(USE_ACC)
if (levelModeActive && (axis != FD_YAW)) {
if (levelModeActive && (axis != FD_YAW) && !(levelRaceModeActive && (axis == FD_PITCH))) {
currentPidSetpoint = pidLevel(axis, pidProfile, angleTrim, currentPidSetpoint);
}
#endif

1
src/main/flight/pid.h
View file

@ -189,6 +189,7 @@ typedef struct pidProfile_s {
uint8_t ff_spike_limit; // FF stick extrapolation lookahead period in ms
uint8_t ff_smooth_factor; // Amount of smoothing for interpolated FF steps
uint8_t dyn_lpf_curve_expo; // set the curve for dynamic dterm lowpass filter
uint8_t level_race_mode; // NFE race mode - when true pitch setpoint calcualtion is gyro based in level mode
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);

1
src/test/unit/pid_unittest.cc
View file

@ -143,6 +143,7 @@ void setDefaultTestSettings(void) {
pidProfile->abs_control_gain = 0,
pidProfile->launchControlMode = LAUNCH_CONTROL_MODE_NORMAL,
pidProfile->launchControlGain = 40,
pidProfile->level_race_mode = false,
gyro.targetLooptime = 8000;
}