mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 16:25:31 +03:00
Cleanup project structure. Update unit test Makefile to place object
files in obj/test
This commit is contained in:
Dominic Clifton
parent
fb9e3a2358
commit
d19a5e7046
330 changed files with 657 additions and 638 deletions
|
|
@ -1,296 +0,0 @@
|
|||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
#include <math.h>
|
||||
|
||||
#include "common/axis.h"
|
||||
#include "common/maths.h"
|
||||
|
||||
#include "runtime_config.h"
|
||||
|
||||
#include "drivers/accgyro_common.h"
|
||||
#include "sensors_common.h"
|
||||
#include "sensors_gyro.h"
|
||||
#include "rc_controls.h"
|
||||
#include "flight_common.h"
|
||||
#include "flight_autotune.h"
|
||||
#include "gps_common.h"
|
||||
|
||||
extern uint16_t cycleTime;
|
||||
|
||||
int16_t heading, magHold;
|
||||
int16_t axisPID[3];
|
||||
uint8_t dynP8[3], dynI8[3], dynD8[3];
|
||||
|
||||
static int32_t errorGyroI[3] = { 0, 0, 0 };
|
||||
static float errorGyroIf[3] = { 0.0f, 0.0f, 0.0f };
|
||||
static int32_t errorAngleI[2] = { 0, 0 };
|
||||
|
||||
static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
|
||||
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim);
|
||||
|
||||
typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
|
||||
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim); // pid controller function prototype
|
||||
|
||||
pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are we using, defaultMultiWii
|
||||
|
||||
void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
|
||||
{
|
||||
rollAndPitchTrims->values.roll = 0;
|
||||
rollAndPitchTrims->values.pitch = 0;
|
||||
}
|
||||
|
||||
void resetErrorAngle(void)
|
||||
{
|
||||
errorAngleI[ROLL] = 0;
|
||||
errorAngleI[PITCH] = 0;
|
||||
}
|
||||
|
||||
void resetErrorGyro(void)
|
||||
{
|
||||
errorGyroI[ROLL] = 0;
|
||||
errorGyroI[PITCH] = 0;
|
||||
errorGyroI[YAW] = 0;
|
||||
|
||||
errorGyroIf[ROLL] = 0;
|
||||
errorGyroIf[PITCH] = 0;
|
||||
errorGyroIf[YAW] = 0;
|
||||
}
|
||||
|
||||
const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
|
||||
|
||||
bool shouldAutotune(void)
|
||||
{
|
||||
return f.ARMED && f.AUTOTUNE_MODE;
|
||||
}
|
||||
|
||||
static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
|
||||
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim)
|
||||
{
|
||||
float RateError, errorAngle, AngleRate, gyroRate;
|
||||
float ITerm,PTerm,DTerm;
|
||||
static float lastGyroRate[3];
|
||||
static float delta1[3], delta2[3];
|
||||
float delta, deltaSum;
|
||||
float dT;
|
||||
int axis;
|
||||
|
||||
dT = (float)cycleTime * 0.000001f;
|
||||
|
||||
// ----------PID controller----------
|
||||
for (axis = 0; axis < 3; axis++) {
|
||||
// -----Get the desired angle rate depending on flight mode
|
||||
if (axis == FD_YAW) {
|
||||
// YAW is always gyro-controlled (MAG correction is applied to rcCommand) 100dps to 1100dps max yaw rate
|
||||
AngleRate = (float)((controlRateConfig->yawRate + 10) * rcCommand[YAW]) / 50.0f;
|
||||
} else {
|
||||
// calculate error and limit the angle to 50 degrees max inclination
|
||||
errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -500, +500) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
|
||||
|
||||
if (shouldAutotune()) {
|
||||
errorAngle = autotune(rcAliasToAngleIndexMap[axis], &inclination, errorAngle);
|
||||
}
|
||||
|
||||
if (f.ANGLE_MODE) {
|
||||
// it's the ANGLE mode - control is angle based, so control loop is needed
|
||||
AngleRate = errorAngle * pidProfile->A_level;
|
||||
} else {
|
||||
//control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
|
||||
AngleRate = (float)((controlRateConfig->rollPitchRate + 20) * rcCommand[axis]) / 50.0f; // 200dps to 1200dps max yaw rate
|
||||
if (f.HORIZON_MODE) {
|
||||
// mix up angle error to desired AngleRate to add a little auto-level feel
|
||||
AngleRate += errorAngle * pidProfile->H_level;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
gyroRate = gyroData[axis] * gyro.scale; // gyro output scaled to dps
|
||||
|
||||
// --------low-level gyro-based PID. ----------
|
||||
// Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
|
||||
// -----calculate scaled error.AngleRates
|
||||
// multiplication of rcCommand corresponds to changing the sticks scaling here
|
||||
RateError = AngleRate - gyroRate;
|
||||
|
||||
// -----calculate P component
|
||||
PTerm = RateError * pidProfile->P_f[axis];
|
||||
// -----calculate I component
|
||||
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis], -250.0f, 250.0f);
|
||||
|
||||
// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
|
||||
// I coefficient (I8) moved before integration to make limiting independent from PID settings
|
||||
ITerm = errorGyroIf[axis];
|
||||
|
||||
//-----calculate D-term
|
||||
delta = gyroRate - lastGyroRate[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
|
||||
lastGyroRate[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 / dT);
|
||||
// add moving average here to reduce noise
|
||||
deltaSum = delta1[axis] + delta2[axis] + delta;
|
||||
delta2[axis] = delta1[axis];
|
||||
delta1[axis] = delta;
|
||||
DTerm = constrainf((deltaSum / 3.0f) * pidProfile->D_f[axis], -300.0f, 300.0f);
|
||||
|
||||
// -----calculate total PID output
|
||||
axisPID[axis] = constrain(lrintf(PTerm + ITerm - DTerm), -1000, 1000);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
|
||||
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim)
|
||||
{
|
||||
int axis, prop;
|
||||
int32_t error, errorAngle;
|
||||
int32_t PTerm, ITerm, PTermACC = 0, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
|
||||
static int16_t lastGyro[3] = { 0, 0, 0 };
|
||||
static int32_t delta1[3], delta2[3];
|
||||
int32_t deltaSum;
|
||||
int32_t delta;
|
||||
|
||||
// **** PITCH & ROLL & YAW PID ****
|
||||
prop = max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])); // range [0;500]
|
||||
for (axis = 0; axis < 3; axis++) {
|
||||
if ((f.ANGLE_MODE || f.HORIZON_MODE) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC
|
||||
// observe max inclination
|
||||
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
|
||||
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
|
||||
|
||||
if (shouldAutotune()) {
|
||||
errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
|
||||
}
|
||||
|
||||
PTermACC = errorAngle * pidProfile->P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
|
||||
PTermACC = constrain(PTermACC, -pidProfile->D8[PIDLEVEL] * 5, +pidProfile->D8[PIDLEVEL] * 5);
|
||||
|
||||
errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp
|
||||
ITermACC = (errorAngleI[axis] * pidProfile->I8[PIDLEVEL]) >> 12;
|
||||
}
|
||||
if (!f.ANGLE_MODE || f.HORIZON_MODE || axis == FD_YAW) { // MODE relying on GYRO or YAW axis
|
||||
error = (int32_t) rcCommand[axis] * 10 * 8 / pidProfile->P8[axis];
|
||||
error -= gyroData[axis] / 4;
|
||||
|
||||
PTermGYRO = rcCommand[axis];
|
||||
|
||||
errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
|
||||
if (abs(gyroData[axis]) > (640 * 4))
|
||||
errorGyroI[axis] = 0;
|
||||
ITermGYRO = (errorGyroI[axis] / 125 * pidProfile->I8[axis]) / 64;
|
||||
}
|
||||
if (f.HORIZON_MODE && (axis == FD_ROLL || axis == FD_PITCH)) {
|
||||
PTerm = (PTermACC * (500 - prop) + PTermGYRO * prop) / 500;
|
||||
ITerm = (ITermACC * (500 - prop) + ITermGYRO * prop) / 500;
|
||||
} else {
|
||||
if (f.ANGLE_MODE && (axis == FD_ROLL || axis == FD_PITCH)) {
|
||||
PTerm = PTermACC;
|
||||
ITerm = ITermACC;
|
||||
} else {
|
||||
PTerm = PTermGYRO;
|
||||
ITerm = ITermGYRO;
|
||||
}
|
||||
}
|
||||
|
||||
PTerm -= ((int32_t)gyroData[axis] / 4) * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
|
||||
delta = (gyroData[axis] - lastGyro[axis]) / 4;
|
||||
lastGyro[axis] = gyroData[axis];
|
||||
deltaSum = delta1[axis] + delta2[axis] + delta;
|
||||
delta2[axis] = delta1[axis];
|
||||
delta1[axis] = delta;
|
||||
DTerm = (deltaSum * dynD8[axis]) / 32;
|
||||
axisPID[axis] = PTerm + ITerm - DTerm;
|
||||
}
|
||||
}
|
||||
|
||||
#define GYRO_I_MAX 256
|
||||
|
||||
static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
|
||||
rollAndPitchTrims_t *angleTrim)
|
||||
{
|
||||
int32_t errorAngle;
|
||||
int axis;
|
||||
int32_t delta, deltaSum;
|
||||
static int32_t delta1[3], delta2[3];
|
||||
int32_t PTerm, ITerm, DTerm;
|
||||
static int32_t lastError[3] = { 0, 0, 0 };
|
||||
int32_t AngleRateTmp, RateError;
|
||||
|
||||
// ----------PID controller----------
|
||||
for (axis = 0; axis < 3; axis++) {
|
||||
// -----Get the desired angle rate depending on flight mode
|
||||
if (axis == FD_YAW) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
|
||||
AngleRateTmp = (((int32_t)(controlRateConfig->yawRate + 27) * rcCommand[2]) >> 5);
|
||||
} else {
|
||||
// calculate error and limit the angle to max configured inclination
|
||||
errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int) max_angle_inclination),
|
||||
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]; // 16 bits is ok here
|
||||
|
||||
if (shouldAutotune()) {
|
||||
errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
|
||||
}
|
||||
|
||||
if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
|
||||
AngleRateTmp = ((int32_t)(controlRateConfig->rollPitchRate + 27) * rcCommand[axis]) >> 4;
|
||||
if (f.HORIZON_MODE) {
|
||||
// mix up angle error to desired AngleRateTmp to add a little auto-level feel
|
||||
AngleRateTmp += (errorAngle * pidProfile->I8[PIDLEVEL]) >> 8;
|
||||
}
|
||||
} else { // it's the ANGLE mode - control is angle based, so control loop is needed
|
||||
AngleRateTmp = (errorAngle * pidProfile->P8[PIDLEVEL]) >> 4;
|
||||
}
|
||||
}
|
||||
|
||||
// --------low-level gyro-based PID. ----------
|
||||
// Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
|
||||
// -----calculate scaled error.AngleRates
|
||||
// multiplication of rcCommand corresponds to changing the sticks scaling here
|
||||
RateError = AngleRateTmp - (gyroData[axis] / 4);
|
||||
|
||||
// -----calculate P component
|
||||
PTerm = (RateError * pidProfile->P8[axis]) >> 7;
|
||||
// -----calculate I component
|
||||
// there should be no division before accumulating the error to integrator, because the precision would be reduced.
|
||||
// Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.
|
||||
// Time correction (to avoid different I scaling for different builds based on average cycle time)
|
||||
// is normalized to cycle time = 2048.
|
||||
errorGyroI[axis] = errorGyroI[axis] + ((RateError * cycleTime) >> 11) * pidProfile->I8[axis];
|
||||
|
||||
// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
|
||||
// I coefficient (I8) moved before integration to make limiting independent from PID settings
|
||||
errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
|
||||
ITerm = errorGyroI[axis] >> 13;
|
||||
|
||||
//-----calculate D-term
|
||||
delta = RateError - lastError[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
|
||||
lastError[axis] = RateError;
|
||||
|
||||
// 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 / (cycleTime >> 4))) >> 6;
|
||||
// add moving average here to reduce noise
|
||||
deltaSum = delta1[axis] + delta2[axis] + delta;
|
||||
delta2[axis] = delta1[axis];
|
||||
delta1[axis] = delta;
|
||||
DTerm = (deltaSum * pidProfile->D8[axis]) >> 8;
|
||||
|
||||
// -----calculate total PID output
|
||||
axisPID[axis] = PTerm + ITerm + DTerm;
|
||||
}
|
||||
}
|
||||
|
||||
void setPIDController(int type)
|
||||
{
|
||||
switch (type) {
|
||||
case 0:
|
||||
default:
|
||||
pid_controller = pidMultiWii;
|
||||
break;
|
||||
case 1:
|
||||
pid_controller = pidRewrite;
|
||||
break;
|
||||
case 2:
|
||||
pid_controller = pidBaseflight;
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Add table
Add a link
Reference in a new issue