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Merge remote-tracking branch 'multiwii/master'

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Conflicts:
	src/flight_imu.c
	src/mw.c
This commit is contained in:
Dominic Clifton 2014-05-05 01:43:57 +01:00 • committed by Hydra
commit c004e48a87
2 changed files with 20 additions and 18 deletions
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33
src/flight_imu.c
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@ -415,24 +415,27 @@ int getEstimatedAltitude(void)
// set vario // set vario
vario = applyDeadband(vel_tmp, 5); vario = applyDeadband(vel_tmp, 5);
if (abs(angle[ROLL]) < 800 && abs(angle[PITCH]) < 800) { // only calculate pid if the copters thrust is facing downwards(<80deg)
// Altitude P-Controller
error = constrain(AltHold - EstAlt, -500, 500);
error = applyDeadband(error, 10); // remove small P parametr to reduce noise near zero position
setVel = constrain((currentProfile.pidProfile.P8[PIDALT] * error / 128), -300, +300); // limit velocity to +/- 3 m/s
// Altitude P-Controller // Velocity PID-Controller
error = constrain(AltHold - EstAlt, -500, 500); // P
error = applyDeadband(error, 10); // remove small P parametr to reduce noise near zero position error = setVel - vel_tmp;
setVel = constrain((currentProfile.pidProfile.P8[PIDALT] * error / 128), -300, +300); // limit velocity to +/- 3 m/s BaroPID = constrain((currentProfile.pidProfile.P8[PIDVEL] * error / 32), -300, +300);
// Velocity PID-Controller // I
// P errorAltitudeI += (currentProfile.pidProfile.I8[PIDVEL] * error) / 8;
error = setVel - vel_tmp; errorAltitudeI = constrain(errorAltitudeI, -(1024 * 200), (1024 * 200));
BaroPID = constrain((currentProfile.pidProfile.P8[PIDVEL] * error / 32), -300, +300); BaroPID += errorAltitudeI / 1024; // I in range +/-200
// I // D
errorAltitudeI += (currentProfile.pidProfile.I8[PIDVEL] * error) / 8; BaroPID -= constrain(currentProfile.pidProfile.D8[PIDVEL] * (accZ_tmp + accZ_old) / 64, -150, 150);
errorAltitudeI = constrain(errorAltitudeI, -(1024 * 200), (1024 * 200)); } else {
BaroPID += errorAltitudeI / 1024; // I in range +/-200 BaroPID = 0;
}
// D
BaroPID -= constrain(currentProfile.pidProfile.D8[PIDVEL] * (accZ_tmp + accZ_old) / 64, -150, 150);
accZ_old = accZ_tmp; accZ_old = accZ_tmp;
return 1; return 1;

5
src/mw.c
View file

@ -587,7 +587,7 @@ void loop(void)
AltHold = EstAlt; AltHold = EstAlt;
isAltHoldChanged = 0; isAltHoldChanged = 0;
} }
rcCommand[THROTTLE] = initialThrottleHold + BaroPID; rcCommand[THROTTLE] = constrain(initialThrottleHold + BaroPID, masterConfig.escAndServoConfig.minthrottle + 100, masterConfig.escAndServoConfig.maxthrottle);
} }
} else { } else {
// slow alt changes for apfags // slow alt changes for apfags
@ -602,8 +602,7 @@ void loop(void)
AltHoldCorr = 0; AltHoldCorr = 0;
isAltHoldChanged = 0; isAltHoldChanged = 0;
} }
rcCommand[THROTTLE] = initialThrottleHold + BaroPID; rcCommand[THROTTLE] = constrain(initialThrottleHold + BaroPID, masterConfig.escAndServoConfig.minthrottle + 100, masterConfig.escAndServoConfig.maxthrottle);
rcCommand[THROTTLE] = constrain(rcCommand[THROTTLE], masterConfig.escAndServoConfig.minthrottle + 150, masterConfig.escAndServoConfig.maxthrottle);
} }
} else { } else {
// handle fixedwing-related althold. UNTESTED! and probably wrong // handle fixedwing-related althold. UNTESTED! and probably wrong