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Reordered and optimised pidProfile parameter group.

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This commit is contained in:
mikeller 2018-05-31 23:44:50 +12:00
parent 011711c0c1
commit c666fcfa17
2 changed files with 18 additions and 17 deletions
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2
src/main/flight/pid.c
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@ -93,7 +93,7 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
#define ACRO_TRAINER_SETPOINT_LIMIT 1000.0f // Limit the correcting setpoint
#endif // USE_ACRO_TRAINER
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 3);
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 4);
void resetPidProfile(pidProfile_t *pidProfile)
{

15
src/main/flight/pid.h
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@ -86,17 +86,17 @@ typedef enum
typedef struct pidProfile_s {
pid8_t pid[PID_ITEM_COUNT];
uint16_t yaw_lowpass_hz; // Additional yaw filter when yaw axis too noisy
uint16_t dterm_lowpass_hz; // Delta Filter in hz
uint16_t dterm_notch_hz; // Biquad dterm notch hz
uint16_t dterm_notch_cutoff; // Biquad dterm notch low cutoff
pid8_t pid[PID_ITEM_COUNT];
uint8_t dterm_filter_type; // Filter selection for dterm
uint8_t itermWindupPointPercent; // Experimental ITerm windup threshold, percent motor saturation
uint16_t pidSumLimit;
uint16_t pidSumLimitYaw;
uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage
uint8_t pidAtMinThrottle; // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
uint8_t levelAngleLimit; // Max angle in degrees in level mode
@ -106,7 +106,6 @@ typedef struct pidProfile_s {
// Betaflight PID controller parameters
uint16_t itermThrottleThreshold; // max allowed throttle delta before iterm accelerated in ms
uint16_t itermAcceleratorGain; // Iterm Accelerator Gain when itermThrottlethreshold is hit
uint8_t setpointRelaxRatio; // Setpoint weight relaxation effect
uint16_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > aggressive derivative)
uint16_t yawRateAccelLimit; // yaw accel limiter for deg/sec/ms
uint16_t rateAccelLimit; // accel limiter roll/pitch deg/sec/ms
@ -117,21 +116,23 @@ typedef struct pidProfile_s {
uint16_t crash_delay; // ms
uint8_t crash_recovery_angle; // degrees
uint8_t crash_recovery_rate; // degree/second
pidCrashRecovery_e crash_recovery; // off, on, on and beeps when it is in crash recovery mode
uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage
uint8_t setpointRelaxRatio; // Setpoint weight relaxation effect
uint16_t crash_limit_yaw; // limits yaw errorRate, so crashes don't cause huge throttle increase
uint16_t itermLimit;
uint16_t dterm_lowpass2_hz; // Extra PT1 Filter on D in hz
uint8_t crash_recovery; // off, on, on and beeps when it is in crash recovery mode
uint8_t throttle_boost; // how much should throttle be boosted during transient changes 0-100, 100 adds 10x hpf filtered throttle
uint8_t throttle_boost_cutoff; // Which cutoff frequency to use for throttle boost. higher cutoffs keep the boost on for shorter. Specified in hz.
uint8_t iterm_rotation; // rotates iterm to translate world errors to local coordinate system
uint8_t smart_feedforward; // takes only the larger of P and the D weight feed forward term if they have the same sign.
uint8_t iterm_relax_cutoff_low; // Slowest setpoint response to prevent iterm accumulation
uint8_t iterm_relax_cutoff_high; // Fastest setpoint response to prevent iterm accumulation
itermRelax_e iterm_relax; // Enable iterm suppression during stick input
uint8_t iterm_relax; // Enable iterm suppression during stick input
uint8_t acro_trainer_angle_limit; // Acro trainer roll/pitch angle limit in degrees
uint16_t acro_trainer_lookahead_ms; // The lookahead window in milliseconds used to reduce overshoot
uint8_t acro_trainer_debug_axis; // The axis for which record debugging values are captured 0=roll, 1=pitch
uint8_t acro_trainer_gain; // The strength of the limiting. Raising may reduce overshoot but also lead to oscillation around the angle limit
uint16_t acro_trainer_lookahead_ms; // The lookahead window in milliseconds used to reduce overshoot
uint8_t abs_control_gain; // How strongly should the absolute accumulated error be corrected for
uint8_t abs_control_limit; // Limit to the correction
uint8_t abs_control_error_limit; // Limit to the accumulated error