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new Baseflight PID

Browse source 
full gyro scale is used now
and a new pid with float calculations was added based on PIDrewrite
eeprom size was also increased from 1kB to 2kB

Conflicts:

	src/config.c
	src/drivers/accgyro_l3g4200d.c
	src/drivers/accgyro_mpu3050.c
	src/drivers/accgyro_mpu6050.c
	src/flight_imu.c
	src/mw.c
	src/mw.h
	src/serial_cli.c
	src/serial_msp.c
	src/utils.c
	src/utils.h
This commit is contained in:
Lukas S 2013-11-03 03:40:16 +01:00 • committed by Dominic Clifton
parent 1df79e65fc
commit cffdfb782c
15 changed files with 222 additions and 39 deletions
Download patch file Download diff file Expand all files Collapse all files

19
src/serial_cli.c
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@ -270,7 +270,8 @@ const clivalue_t valueTable[] = {
{ "nav_speed_max", VAR_UINT16, &currentProfile.gpsProfile.nav_speed_max, 10, 2000 },
{ "nav_slew_rate", VAR_UINT8, &currentProfile.gpsProfile.nav_slew_rate, 0, 100 },
{ "pid_controller", VAR_UINT8, &currentProfile.pidController, 0, 1 },
{ "pid_controller", VAR_UINT8, &currentProfile.pidController, 0, 2 },
{ "p_pitch", VAR_UINT8, &currentProfile.pidProfile.P8[PITCH], 0, 200 },
{ "i_pitch", VAR_UINT8, &currentProfile.pidProfile.I8[PITCH], 0, 200 },
{ "d_pitch", VAR_UINT8, &currentProfile.pidProfile.D8[PITCH], 0, 200 },
@ -280,12 +281,28 @@ const clivalue_t valueTable[] = {
{ "p_yaw", VAR_UINT8, &currentProfile.pidProfile.P8[YAW], 0, 200 },
{ "i_yaw", VAR_UINT8, &currentProfile.pidProfile.I8[YAW], 0, 200 },
{ "d_yaw", VAR_UINT8, &currentProfile.pidProfile.D8[YAW], 0, 200 },
{ "Ppitchf", VAR_FLOAT, &currentProfile.pidProfile.P_f[PITCH], 0, 100 },
{ "Ipitchf", VAR_FLOAT, &currentProfile.pidProfile.I_f[PITCH], 0, 100 },
{ "Dpitchf", VAR_FLOAT, &currentProfile.pidProfile.D_f[PITCH], 0, 100 },
{ "Prollf", VAR_FLOAT, &currentProfile.pidProfile.P_f[ROLL], 0, 100 },
{ "Irollf", VAR_FLOAT, &currentProfile.pidProfile.I_f[ROLL], 0, 100 },
{ "Drollf", VAR_FLOAT, &currentProfile.pidProfile.D_f[ROLL], 0, 100 },
{ "Pyawf", VAR_FLOAT, &currentProfile.pidProfile.P_f[YAW], 0, 100 },
{ "Iyawf", VAR_FLOAT, &currentProfile.pidProfile.I_f[YAW], 0, 100 },
{ "Dyawf", VAR_FLOAT, &currentProfile.pidProfile.D_f[YAW], 0, 100 },
{ "level_horizon", VAR_FLOAT, &currentProfile.pidProfile.H_level, 0, 10 },
{ "level_angle", VAR_FLOAT, &currentProfile.pidProfile.A_level, 0, 10 },
{ "p_alt", VAR_UINT8, &currentProfile.pidProfile.P8[PIDALT], 0, 200 },
{ "i_alt", VAR_UINT8, &currentProfile.pidProfile.I8[PIDALT], 0, 200 },
{ "d_alt", VAR_UINT8, &currentProfile.pidProfile.D8[PIDALT], 0, 200 },
{ "p_level", VAR_UINT8, &currentProfile.pidProfile.P8[PIDLEVEL], 0, 200 },
{ "i_level", VAR_UINT8, &currentProfile.pidProfile.I8[PIDLEVEL], 0, 200 },
{ "d_level", VAR_UINT8, &currentProfile.pidProfile.D8[PIDLEVEL], 0, 200 },
{ "p_vel", VAR_UINT8, &currentProfile.pidProfile.P8[PIDVEL], 0, 200 },
{ "i_vel", VAR_UINT8, &currentProfile.pidProfile.I8[PIDVEL], 0, 200 },
{ "d_vel", VAR_UINT8, &currentProfile.pidProfile.D8[PIDVEL], 0, 200 },