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Finalisation of Betaflight PID controller // RC smoothing added back

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borisbstyle 2016-07-27 14:30:51 +02:00
parent 6e99489200
commit c11c50287e
10 changed files with 186 additions and 153 deletions
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23
src/main/flight/mixer.c
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@ -835,34 +835,11 @@ void mixTable(void *pidProfilePtr)
throttleMax = throttleMax - (rollPitchYawMixRange / 2);
}
// Keep track for motor update timing // Only for Betaflight pid controller to keep legacy pidc basic and free from additional float math
float motorDtms;
if (pidProfile->accelerationLimitPercent && pidProfile->pidController == PID_CONTROLLER_BETAFLIGHT) {
static uint32_t previousMotorTime;
uint32_t currentMotorTime = micros();
motorDtms = (float) (currentMotorTime - previousMotorTime) / 1000.0f;
previousMotorTime = currentMotorTime;
}
// Now add in the desired throttle, but keep in a range that doesn't clip adjusted
// roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
for (i = 0; i < motorCount; i++) {
motor[i] = rollPitchYawMix[i] + constrain(throttle * currentMixer[i].throttle, throttleMin, throttleMax);
// Accel limit. Prevent PID controller to output huge ramps to the motors. Only limiting acceleration. Only for Betaflight pid controller to keep legacy pidc basic
if (pidProfile->accelerationLimitPercent && pidProfile->pidController == PID_CONTROLLER_BETAFLIGHT) {
static int16_t lastFilteredMotor[MAX_SUPPORTED_MOTORS];
// acceleration limit
float delta = motor[i] - lastFilteredMotor[i];
const float maxDeltaPerMs = throttleRange * ((float)pidProfile->accelerationLimitPercent / 100.0f);
float maxDelta = maxDeltaPerMs * motorDtms;
if (delta > maxDelta) { // accelerating too hard
motor[i] = lastFilteredMotor[i] + maxDelta;
}
lastFilteredMotor[i] = motor[i];
}
if (isFailsafeActive) {
motor[i] = constrain(motor[i], escAndServoConfig->mincommand, escAndServoConfig->maxthrottle);
} else if (feature(FEATURE_3D)) {