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Latest Crashpilot1000 update

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This commit is contained in:
Michael Jakob 2015-02-19 09:00:20 +01:00
parent 6548c90ca8
commit cd94377651
1 changed files with 6 additions and 7 deletions
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13
src/main/flight/pid.c
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@ -522,10 +522,9 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
{
UNUSED(rxConfig);
float delta, RCfactor, rcCommandAxis, MainDptCut;
float delta, RCfactor, rcCommandAxis, MainDptCut, gyroDataQuant;
float PTerm = 0.0f, ITerm = 0.0f, DTerm = 0.0f, PTermACC = 0.0f, ITermACC = 0.0f, ITermGYRO = 0.0f, error = 0.0f, prop = 0.0f;
static float lastGyro[2] = { 0.0f, 0.0f }, lastDTerm[2] = { 0.0f, 0.0f };
float gyroDataQuant[2] = { 0.0f, 0.0f };
float tmp0flt;
int32_t tmp0;
uint8_t axis;
@ -544,7 +543,7 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
for (axis = 0; axis < 2; axis++) {
tmp0 = (int32_t)((float)gyroData[axis] * 0.3125f); // Multiwii masks out the last 2 bits, this has the same idea
gyroDataQuant[axis] = (float)tmp0 * 3.2f; // but delivers more accuracy and also reduces jittery flight
gyroDataQuant = (float)tmp0 * 3.2f; // but delivers more accuracy and also reduces jittery flight
rcCommandAxis = (float)rcCommand[axis]; // Calculate common values for pid controllers
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
#ifdef GPS
@ -569,7 +568,7 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
if (ABS((int16_t)gyroData[axis]) > 2560) {
errorGyroIf[axis] = 0.0f;
} else {
error = (rcCommandAxis * 320.0f / (float)pidProfile->P8[axis]) - gyroDataQuant[axis];
error = (rcCommandAxis * 320.0f / (float)pidProfile->P8[axis]) - gyroDataQuant;
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + error * ACCDeltaTimeINS, -192.0f, +192.0f);
}
@ -587,10 +586,10 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
ITerm = ITermACC;
}
PTerm -= gyroDataQuant[axis] * dynP8[axis] * 0.003f;
delta = (gyroDataQuant[axis] - lastGyro[axis]) / ACCDeltaTimeINS;
PTerm -= gyroDataQuant * dynP8[axis] * 0.003f;
delta = (gyroDataQuant - lastGyro[axis]) / ACCDeltaTimeINS;
lastGyro[axis] = gyroDataQuant[axis];
lastGyro[axis] = gyroDataQuant;
lastDTerm[axis] += RCfactor * (delta - lastDTerm[axis]);
DTerm = lastDTerm[axis] * dynD8[axis] * 0.00007f;