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new Baseflight PID

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full gyro scale is used now
and a new pid with float calculations was added based on PIDrewrite
eeprom size was also increased from 1kB to 2kB
This commit is contained in:
Lukas S 2013-11-03 03:40:16 +01:00
parent bff260c7c6
commit b996b26cbb
11 changed files with 192 additions and 31 deletions
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58
src/serial.c
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@ -296,10 +296,31 @@ static void evaluateCommand(void)
headSerialReply(0);
break;
case MSP_SET_PID:
for (i = 0; i < PIDITEMS; i++) {
cfg.P8[i] = read8();
cfg.I8[i] = read8();
cfg.D8[i] = read8();
if (cfg.pidController == 2) {
for (i = 0; i < 3; i++) {
cfg.P_f[i] = (float)read8() / 10.0f;
cfg.I_f[i] = (float)read8() / 100.0f;
cfg.D_f[i] = (float)read8() / 1000.0f;
}
for (i = 3; i < PIDITEMS; i++) {
if(i == PIDLEVEL) {
cfg.A_level = (float)read8() / 10.0f;
cfg.H_level = (float)read8() / 10.0f;
read8();
}
else {
cfg.P8[i] = read8();
cfg.I8[i] = read8();
cfg.D8[i] = read8();
}
}
}
else {
for (i = 0; i < PIDITEMS; i++) {
cfg.P8[i] = read8();
cfg.I8[i] = read8();
cfg.D8[i] = read8();
}
}
headSerialReply(0);
break;
@ -477,10 +498,31 @@ static void evaluateCommand(void)
break;
case MSP_PID:
headSerialReply(3 * PIDITEMS);
for (i = 0; i < PIDITEMS; i++) {
serialize8(cfg.P8[i]);
serialize8(cfg.I8[i]);
serialize8(cfg.D8[i]);
if (cfg.pidController == 2) { // convert float stuff into uint8_t to keep backwards compatability with all 8-bit shit with new pid
for (i = 0; i < 3; i++) {
serialize8(constrain(lrintf(cfg.P_f[i] * 10.0f) ,0 ,250));
serialize8(constrain(lrintf(cfg.I_f[i] * 100.0f) ,0 ,250));
serialize8(constrain(lrintf(cfg.D_f[i] * 1000.0f) ,0 ,100));
}
for (i = 3; i < PIDITEMS; i++) {
if (i == PIDLEVEL) {
serialize8(constrain(lrintf(cfg.A_level * 10.0f) ,0 ,250));
serialize8(constrain(lrintf(cfg.H_level * 10.0f) ,0 ,250));
serialize8(0);
}
else {
serialize8(cfg.P8[i]);
serialize8(cfg.I8[i]);
serialize8(cfg.D8[i]);
}
}
}
else {
for (i = 0; i < PIDITEMS; i++) {
serialize8(cfg.P8[i]);
serialize8(cfg.I8[i]);
serialize8(cfg.D8[i]);
}
}
break;
case MSP_PIDNAMES: