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Smoothed Derivative from Error // Fix Iterm accumulation issues // Defaultss
Saturation rework
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borisbstyle
parent
49defe8c68
commit
d214f8602d
10 changed files with 104 additions and 103 deletions
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@ -49,8 +49,9 @@
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#include "config/runtime_config.h"
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extern uint8_t motorCount;
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extern bool motorLimitReached;
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uint32_t targetPidLooptime;
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extern float errorLimiter;
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extern float angleRate[3], angleRateSmooth[2];
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int16_t axisPID[3];
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@ -61,13 +62,13 @@ int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
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// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
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uint8_t PIDweight[3];
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static int32_t errorGyroI[3], errorGyroILimit[3];
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static int32_t errorGyroI[3];
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#ifndef SKIP_PID_LUXFLOAT
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static float errorGyroIf[3], errorGyroIfLimit[3];
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static float errorGyroIf[3];
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#endif
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static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRateConfig_t *controlRateConfig,
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uint16_t max_angle_inclination, const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig);
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static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
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const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig);
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pidControllerFuncPtr pid_controller = pidMultiWiiRewrite; // which pid controller are we using, defaultMultiWii
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@ -75,38 +76,14 @@ void setTargetPidLooptime(uint8_t pidProcessDenom) {
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targetPidLooptime = targetLooptime * pidProcessDenom;
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}
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float calculateRate(int axis, const controlRateConfig_t *controlRateConfig) {
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float angleRate;
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if (isSuperExpoActive()) {
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float rcFactor = (axis == YAW) ? (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcYawRate8 / 100.0f))) : (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcRate8 / 100.0f)));
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rcFactor = 1.0f / (constrainf(1.0f - (rcFactor * (controlRateConfig->rates[axis] / 100.0f)), 0.01f, 1.00f));
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angleRate = rcFactor * ((27 * rcCommand[axis]) / 16.0f);
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} else {
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angleRate = (float)((controlRateConfig->rates[axis] + 27) * rcCommand[axis]) / 16.0f;
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}
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return constrainf(angleRate, -8190.0f, 8190.0f); // Rate limit protection
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}
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uint16_t getDynamicKp(int axis, const pidProfile_t *pidProfile) {
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uint16_t dynamicKp;
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uint32_t dynamicFactor = constrain(ABS(rcCommand[axis] << 8) / DYNAMIC_PTERM_STICK_THRESHOLD, 0, 1 << 7);
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dynamicKp = ((pidProfile->P8[axis] << 8) + (pidProfile->P8[axis] * dynamicFactor)) >> 8;
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return dynamicKp;
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}
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uint16_t getDynamicKi(int axis, const pidProfile_t *pidProfile) {
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uint16_t getDynamicKi(int axis, const pidProfile_t *pidProfile, int32_t angleRate) {
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uint16_t dynamicKi;
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uint16_t resetRate;
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resetRate = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
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uint32_t dynamicFactor = ((resetRate << 16) / (resetRate + ABS(gyroADC[axis]))) >> 8;
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uint16_t dynamicFactor = (1 << 8) - constrain((ABS(angleRate) << 6) / resetRate, 0, 1 << 8);
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dynamicKi = (pidProfile->I8[axis] * dynamicFactor) >> 8;
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return dynamicKi;
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@ -137,12 +114,12 @@ static filterStatePt1_t deltaFilterState[3];
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static filterStatePt1_t yawFilterState;
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#ifndef SKIP_PID_LUXFLOAT
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static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_t *controlRateConfig,
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uint16_t max_angle_inclination, const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
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static void pidLuxFloat(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
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const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
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{
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float RateError, AngleRate, gyroRate;
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float RateError, gyroRate, RateErrorSmooth;
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float ITerm,PTerm,DTerm;
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static float lastRate[3];
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static float lastRateError[2];
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float delta;
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int axis;
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float horizonLevelStrength = 1;
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@ -171,40 +148,43 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_
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// ----------PID controller----------
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for (axis = 0; axis < 3; axis++) {
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// ACRO mode, control is GYRO based, direct sticks control is applied to rate PID
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AngleRate = calculateRate(axis, controlRateConfig);
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// Yaw control is GYRO based, direct sticks control is applied to rate PID
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if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
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// calculate error angle and limit the angle to the max inclination
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#ifdef GPS
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const float errorAngle = (constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
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const float errorAngle = (constrain(2 * rcCommandSmooth[axis] + GPS_angle[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]); // 16 bits is ok here
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#else
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const float errorAngle = (constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
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const float errorAngle = (constrain(2 * rcCommandSmooth[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]); // 16 bits is ok here
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#endif
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if (FLIGHT_MODE(ANGLE_MODE)) {
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// ANGLE mode - control is angle based, so control loop is needed
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AngleRate = errorAngle * pidProfile->P8[PIDLEVEL] / 16.0f;
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angleRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 16.0f;
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} else {
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// HORIZON mode - direct sticks control is applied to rate PID
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// mix up angle error to desired AngleRate to add a little auto-level feel
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AngleRate += errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 16.0f;
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angleRate[axis] = angleRateSmooth[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 16.0f);
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}
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}
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gyroRate = gyroADCf[axis] / 4.0f; // gyro output scaled to rewrite scale
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gyroRate = gyroADCf[axis] / 4.0f; // gyro output scaled to old rewrite scale
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// --------low-level gyro-based PID. ----------
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// Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
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// -----calculate scaled error.AngleRates
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// multiplication of rcCommand corresponds to changing the sticks scaling here
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RateError = AngleRate - gyroRate;
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RateError = (angleRate[axis] - gyroRate) * errorLimiter;
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uint16_t kP = (pidProfile->dynamic_pid) ? getDynamicKp(axis, pidProfile) : pidProfile->P8[axis];
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// Smoothed Error for Derivative
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if (flightModeFlags && axis != YAW) {
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RateErrorSmooth = RateError;
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} else {
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RateErrorSmooth = (angleRateSmooth[axis] - gyroRate) * errorLimiter;
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}
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// -----calculate P component
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PTerm = luxPTermScale * RateError * kP * tpaFactor;
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PTerm = luxPTermScale * RateError * pidProfile->P8[axis] * tpaFactor;
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// Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
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if((motorCount >= 4 && pidProfile->yaw_p_limit) && axis == YAW) {
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@ -212,16 +192,10 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_
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}
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// -----calculate I component.
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uint16_t kI = (pidProfile->dynamic_pid) ? getDynamicKi(axis, pidProfile) : pidProfile->I8[axis];
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uint16_t kI = (pidProfile->dynamic_pid) ? getDynamicKi(axis, pidProfile, (int32_t)angleRate[axis]) : pidProfile->I8[axis];
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errorGyroIf[axis] = constrainf(errorGyroIf[axis] + luxITermScale * RateError * getdT() * kI, -250.0f, 250.0f);
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if (motorLimitReached) {
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errorGyroIf[axis] = constrainf(errorGyroIf[axis], -errorGyroIfLimit[axis], errorGyroIfLimit[axis]);
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} else {
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errorGyroIfLimit[axis] = ABS(errorGyroIf[axis]);
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}
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// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
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// I coefficient (I8) moved before integration to make limiting independent from PID settings
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ITerm = errorGyroIf[axis];
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@ -241,8 +215,8 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_
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DTerm = 0.0f; // needed for blackbox
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} else {
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delta = -(gyroRate - lastRate[axis]);
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lastRate[axis] = gyroRate;
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delta = RateErrorSmooth - lastRateError[axis];
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lastRateError[axis] = RateErrorSmooth;
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// Divide delta by targetLooptime to get differential (ie dr/dt)
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delta *= (1.0f / getdT());
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@ -271,13 +245,13 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_
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}
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#endif
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static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
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static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
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const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
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{
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int axis;
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int32_t PTerm, ITerm, DTerm, delta;
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static int32_t lastRate[3];
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int32_t AngleRateTmp, RateError, gyroRate;
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static int32_t lastRateError[3];
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int32_t AngleRateTmp, AngleRateTmpSmooth, RateError, gyroRate, RateErrorSmooth;
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int8_t horizonLevelStrength = 100;
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@ -297,15 +271,16 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
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for (axis = 0; axis < 3; axis++) {
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// -----Get the desired angle rate depending on flight mode
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AngleRateTmp = (int32_t)calculateRate(axis, controlRateConfig);
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AngleRateTmp = (int32_t)angleRate[axis];
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if (axis != YAW) AngleRateTmpSmooth = (int32_t)angleRateSmooth[axis];
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if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
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// calculate error angle and limit the angle to max configured inclination
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#ifdef GPS
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const int32_t errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
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const int32_t errorAngle = constrain(2 * rcCommandSmooth[axis] + GPS_angle[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis];
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#else
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const int32_t errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
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const int32_t errorAngle = constrain(2 * rcCommandSmooth[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis];
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#endif
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if (FLIGHT_MODE(ANGLE_MODE)) {
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@ -314,7 +289,7 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
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} else {
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// HORIZON mode - mix up angle error to desired AngleRateTmp to add a little auto-level feel,
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// horizonLevelStrength is scaled to the stick input
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AngleRateTmp += (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 100) >> 4;
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AngleRateTmp = AngleRateTmpSmooth + ((errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 100) >> 4);
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}
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}
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@ -323,12 +298,18 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
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// -----calculate scaled error.AngleRates
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// multiplication of rcCommand corresponds to changing the sticks scaling here
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gyroRate = gyroADC[axis] / 4;
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RateError = AngleRateTmp - gyroRate;
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uint16_t kP = (pidProfile->dynamic_pid) ? getDynamicKp(axis, pidProfile) : pidProfile->P8[axis];
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RateError = (AngleRateTmp - gyroRate) * errorLimiter;
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// Smoothed Error for Derivative
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if (flightModeFlags && axis != YAW) {
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RateErrorSmooth = RateError;
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} else {
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RateErrorSmooth = (AngleRateTmpSmooth - gyroRate) * errorLimiter;
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}
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// -----calculate P component
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PTerm = (RateError * kP * PIDweight[axis] / 100) >> 7;
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PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
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// Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
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if((motorCount >= 4 && pidProfile->yaw_p_limit) && axis == YAW) {
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@ -340,7 +321,7 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
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// Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.
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// Time correction (to avoid different I scaling for different builds based on average cycle time)
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// is normalized to cycle time = 2048.
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uint16_t kI = (pidProfile->dynamic_pid) ? getDynamicKi(axis, pidProfile) : pidProfile->I8[axis];
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uint16_t kI = (pidProfile->dynamic_pid) ? getDynamicKi(axis, pidProfile, AngleRateTmp) : pidProfile->I8[axis];
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errorGyroI[axis] = errorGyroI[axis] + ((RateError * (uint16_t)targetPidLooptime) >> 11) * kI;
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@ -348,12 +329,6 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
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// I coefficient (I8) moved before integration to make limiting independent from PID settings
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errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
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if (motorLimitReached) {
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errorGyroI[axis] = constrain(errorGyroI[axis], -errorGyroILimit[axis], errorGyroILimit[axis]);
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} else {
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errorGyroILimit[axis] = ABS(errorGyroI[axis]);
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}
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ITerm = errorGyroI[axis] >> 13;
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//-----calculate D-term
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@ -371,8 +346,8 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
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DTerm = 0; // needed for blackbox
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} else {
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delta = -(gyroRate - lastRate[axis]);
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lastRate[axis] = gyroRate;
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delta = RateErrorSmooth - lastRateError[axis];
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lastRateError[axis] = RateErrorSmooth;
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// Divide delta by targetLooptime to get differential (ie dr/dt)
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delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetPidLooptime >> 4))) >> 5;
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