Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 12:55:19 +03:00
Code Issues Wiki Activity

Simplified the calculations, fixed tests.

Browse source
This commit is contained in:
mikeller 2020-02-16 10:34:31 +13:00
parent 2bbe525853
commit bc4701aebf
2 changed files with 4 additions and 6 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/main/flight/pid.c
View file

@ -282,7 +282,6 @@ static FAST_RAM_ZERO_INIT pt1Filter_t windupLpf[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT uint8_t itermRelax;
static FAST_RAM_ZERO_INIT uint8_t itermRelaxType;
static uint8_t itermRelaxCutoff;
static FAST_RAM_ZERO_INIT float itermRelaxSetpointThreshold;
#endif
#if defined(USE_ABSOLUTE_CONTROL)
@ -665,7 +664,6 @@ void pidInitConfig(const pidProfile_t *pidProfile)
itermRelax = pidProfile->iterm_relax;
itermRelaxType = pidProfile->iterm_relax_type;
itermRelaxCutoff = pidProfile->iterm_relax_cutoff;
itermRelaxSetpointThreshold = ITERM_RELAX_SETPOINT_THRESHOLD;
#endif
#ifdef USE_ACRO_TRAINER
@ -1160,7 +1158,7 @@ STATIC_UNIT_TESTED void applyItermRelax(const int axis, const float iterm,
if (itermRelax) {
if (axis < FD_YAW || itermRelax == ITERM_RELAX_RPY || itermRelax == ITERM_RELAX_RPY_INC) {
const float itermRelaxFactor = MAX(0, 1 - setpointHpf / itermRelaxSetpointThreshold);
const float itermRelaxFactor = MAX(0, 1 - setpointHpf / ITERM_RELAX_SETPOINT_THRESHOLD);
const bool isDecreasingI =
((iterm > 0) && (*itermErrorRate < 0)) || ((iterm < 0) && (*itermErrorRate > 0));
if ((itermRelax >= ITERM_RELAX_RP_INC) && isDecreasingI) {

6
src/test/unit/pid_unittest.cc
View file

@ -541,9 +541,9 @@ TEST(pidControllerTest, testItermRelax) {
EXPECT_NEAR(-8.16, itermErrorRate, calculateTolerance(-8.16));
currentPidSetpoint += ITERM_RELAX_SETPOINT_THRESHOLD;
applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_NEAR(-2.69, itermErrorRate, calculateTolerance(-2.69));
EXPECT_NEAR(0, itermErrorRate, calculateTolerance(0));
applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_NEAR(-0.84, itermErrorRate, calculateTolerance(-0.84));
EXPECT_NEAR(0, itermErrorRate, calculateTolerance(0));
pidProfile->iterm_relax_type = ITERM_RELAX_GYRO;
pidInit(pidProfile);
@ -587,7 +587,7 @@ TEST(pidControllerTest, testItermRelax) {
pidProfile->iterm_relax = ITERM_RELAX_RPY;
pidInit(pidProfile);
applyItermRelax(FD_YAW, pidData[FD_YAW].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_NEAR(-6.46, itermErrorRate, calculateTolerance(-3.6));
EXPECT_NEAR(-3.6, itermErrorRate, calculateTolerance(-3.6));
}
// TODO - Add more tests