Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-18 22:05:17 +03:00
Code Issues Wiki Activity

Increase PID performance by removing Dterm for Yaw

Browse source
This commit is contained in:
borisbstyle 2016-03-30 16:54:33 +02:00
parent feea25edcc
commit cbc7bc2a61
1 changed files with 44 additions and 38 deletions
Download patch file Download diff file Expand all files Collapse all files

82
src/main/flight/pid.c
View file

@ -225,31 +225,34 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
ITerm = errorGyroIf[axis]; ITerm = errorGyroIf[axis];
//-----calculate D-term //-----calculate D-term
if (pidProfile->deltaMethod == DELTA_FROM_ERROR) { if (axis == YAW) {
delta = RateError - lastErrorForDelta[axis]; if (pidProfile->yaw_lpf_hz) PTerm = filterApplyPt1(PTerm, &yawFilterState, pidProfile->yaw_lpf_hz, getdT());
lastErrorForDelta[axis] = RateError; DTerm = 0;
} else { } else {
delta = -(gyroRate - lastErrorForDelta[axis]); // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800 if (pidProfile->deltaMethod == DELTA_FROM_ERROR) {
lastErrorForDelta[axis] = gyroRate; delta = RateError - lastErrorForDelta[axis];
lastErrorForDelta[axis] = RateError;
} else {
delta = -(gyroRate - lastErrorForDelta[axis]); // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
lastErrorForDelta[axis] = gyroRate;
}
// Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
// would be scaled by different dt each time. Division by dT fixes that.
delta *= (1.0f / getdT());
// Filter delta
if (pidProfile->dterm_lpf_hz) delta = filterApplyPt1(delta, &deltaFilterState[axis], pidProfile->dterm_lpf_hz, getdT());
// Apply moving average
if (pidProfile->dterm_average_count) delta = filterApplyAveragef(delta, pidProfile->dterm_average_count, deltaState[axis]);
DTerm = constrainf(delta * (float)pidProfile->D8[axis] * 0.001f * tpaFactor, -300.0f, 300.0f);
} }
// Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
// would be scaled by different dt each time. Division by dT fixes that.
delta *= (1.0f / getdT());
// Filter delta
if (pidProfile->dterm_lpf_hz) delta = filterApplyPt1(delta, &deltaFilterState[axis], pidProfile->dterm_lpf_hz, getdT());
// Apply moving average
if (pidProfile->dterm_average_count) delta = filterApplyAveragef(delta, pidProfile->dterm_average_count, deltaState[axis]);
DTerm = constrainf(delta * (float)pidProfile->D8[axis] * 0.001f * tpaFactor, -300.0f, 300.0f);
// -----calculate total PID output // -----calculate total PID output
axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -1000, 1000); axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -1000, 1000);
if (pidProfile->yaw_lpf_hz && axis == YAW) axisPID[axis] = filterApplyPt1(axisPID[axis], &yawFilterState, pidProfile->yaw_lpf_hz, getdT());
if (lowThrottlePidReduction) axisPID[axis] /= 3; if (lowThrottlePidReduction) axisPID[axis] /= 3;
#ifdef GTUNE #ifdef GTUNE
@ -511,31 +514,34 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
ITerm = errorGyroI[axis] >> 13; ITerm = errorGyroI[axis] >> 13;
//-----calculate D-term //-----calculate D-term
if (pidProfile->deltaMethod == DELTA_FROM_ERROR) { if (axis == YAW) {
delta = RateError - lastErrorForDelta[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800 if (pidProfile->yaw_lpf_hz) PTerm = filterApplyPt1(PTerm, &yawFilterState, pidProfile->yaw_lpf_hz, getdT());
lastErrorForDelta[axis] = RateError; DTerm = 0;
} else { } else {
delta = -(gyroRate - lastErrorForDelta[axis]); // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800 if (pidProfile->deltaMethod == DELTA_FROM_ERROR) {
lastErrorForDelta[axis] = gyroRate; delta = RateError - lastErrorForDelta[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
lastErrorForDelta[axis] = RateError;
} else {
delta = -(gyroRate - lastErrorForDelta[axis]); // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
lastErrorForDelta[axis] = gyroRate;
}
// Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
// would be scaled by different dt each time. Division by dT fixes that.
delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetPidLooptime >> 4))) >> 6;
// Filter delta
if (pidProfile->dterm_lpf_hz) delta = filterApplyPt1((float)delta, &deltaFilterState[axis], pidProfile->dterm_lpf_hz, getdT());
// Apply moving average
if (pidProfile->dterm_average_count) delta = filterApplyAverage(delta, pidProfile->dterm_average_count, deltaState[axis]) * 2;
DTerm = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
} }
// Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
// would be scaled by different dt each time. Division by dT fixes that.
delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetPidLooptime >> 4))) >> 6;
// Filter delta
if (pidProfile->dterm_lpf_hz) delta = filterApplyPt1((float)delta, &deltaFilterState[axis], pidProfile->dterm_lpf_hz, getdT());
// Apply moving average
if (pidProfile->dterm_average_count) delta = filterApplyAverage(delta, pidProfile->dterm_average_count, deltaState[axis]) * 2;
DTerm = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
// -----calculate total PID output // -----calculate total PID output
axisPID[axis] = PTerm + ITerm + DTerm; axisPID[axis] = PTerm + ITerm + DTerm;
if (pidProfile->yaw_lpf_hz && axis == YAW) axisPID[axis] = filterApplyPt1(axisPID[axis], &yawFilterState, pidProfile->yaw_lpf_hz, getdT());
if (lowThrottlePidReduction) axisPID[axis] /= 3; if (lowThrottlePidReduction) axisPID[axis] /= 3;
#ifdef GTUNE #ifdef GTUNE