mirror of
https://github.com/betaflight/betaflight.git
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Smoothed Derivative from Error // Fix Iterm accumulation issues // Defaultss
Saturation rework
This commit is contained in:
borisbstyle
parent
49defe8c68
commit
d214f8602d
10 changed files with 104 additions and 103 deletions
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@ -152,14 +152,19 @@ static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
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static void resetPidProfile(pidProfile_t *pidProfile)
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{
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#if (defined(STM32F10X))
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pidProfile->pidController = 1;
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#else
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pidProfile->pidController = 2;
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#endif
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pidProfile->P8[ROLL] = 45;
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pidProfile->I8[ROLL] = 40;
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pidProfile->D8[ROLL] = 15;
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pidProfile->P8[PITCH] = 45;
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pidProfile->D8[ROLL] = 18;
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pidProfile->P8[PITCH] = 50;
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pidProfile->I8[PITCH] = 40;
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pidProfile->D8[PITCH] = 15;
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pidProfile->D8[PITCH] = 18;
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pidProfile->P8[YAW] = 90;
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pidProfile->I8[YAW] = 45;
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pidProfile->D8[YAW] = 20;
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@ -186,8 +191,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
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pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
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pidProfile->yaw_lpf_hz = 80;
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pidProfile->rollPitchItermIgnoreRate = 200;
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pidProfile->yawItermIgnoreRate = 45;
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pidProfile->dterm_lpf_hz = 110; // filtering ON by default
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pidProfile->yawItermIgnoreRate = 35;
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pidProfile->dterm_lpf_hz = 50; // filtering ON by default
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pidProfile->dynamic_pid = 1;
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#ifdef GTUNE
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@ -237,7 +242,7 @@ void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
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escAndServoConfig->maxthrottle = 1850;
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escAndServoConfig->mincommand = 1000;
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escAndServoConfig->servoCenterPulse = 1500;
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escAndServoConfig->escDesyncProtection = 10000;
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escAndServoConfig->escDesyncProtection = 0;
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}
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void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
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@ -458,7 +463,7 @@ static void resetConf(void)
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masterConfig.rxConfig.rssi_channel = 0;
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masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
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masterConfig.rxConfig.rssi_ppm_invert = 0;
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masterConfig.rxConfig.rcSmoothing = 0;
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masterConfig.rxConfig.rcSmoothing = 0; // TODO - Cleanup with next EEPROM changes
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masterConfig.rxConfig.fpvCamAngleDegrees = 0;
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masterConfig.rxConfig.max_aux_channel = 6;
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masterConfig.rxConfig.airModeActivateThreshold = 1350;
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@ -70,6 +70,8 @@ static rxConfig_t *rxConfig;
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static mixerMode_e currentMixerMode;
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static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
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float errorLimiter = 1.0f;
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#ifdef USE_SERVOS
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static uint8_t servoRuleCount = 0;
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static servoMixer_t currentServoMixer[MAX_SERVO_RULES];
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@ -817,22 +819,22 @@ void mixTable(void)
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throttleRange = throttleMax - throttleMin;
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if (rollPitchYawMixRange > throttleRange) {
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motorLimitReached = true;
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mixReduction = qConstruct(throttleRange, rollPitchYawMixRange);
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for (i = 0; i < motorCount; i++) {
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rollPitchYawMix[i] = qMultiply(mixReduction,rollPitchYawMix[i]);
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}
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// Get the maximum correction by setting offset to center
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if (!escAndServoConfig->escDesyncProtection) throttleMin = throttleMax = throttleMin + (throttleRange / 2);
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if (debugMode == DEBUG_AIRMODE && i < 3) debug[1] = rollPitchYawMixRange;
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throttleMin = throttleMax = throttleMin + (throttleRange / 2);
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} else {
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motorLimitReached = false;
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throttleMin = throttleMin + (rollPitchYawMixRange / 2);
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throttleMax = throttleMax - (rollPitchYawMixRange / 2);
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}
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// adjust feedback to scale PID error inputs to our limitations.
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errorLimiter = constrainf(((float)throttleRange / rollPitchYawMixRange), 0.1f, 1.0f);
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if (debugMode == DEBUG_AIRMODE) debug[1] = errorLimiter * 100;
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// Now add in the desired throttle, but keep in a range that doesn't clip adjusted
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// roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
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for (i = 0; i < motorCount; i++) {
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@ -189,7 +189,6 @@ void filterServos(void);
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extern int16_t motor[MAX_SUPPORTED_MOTORS];
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extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
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bool motorLimitReached;
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struct escAndServoConfig_s;
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struct rxConfig_s;
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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) {
|
||||
errorGyroI[axis] = constrain(errorGyroI[axis], -errorGyroILimit[axis], errorGyroILimit[axis]);
|
||||
} else {
|
||||
errorGyroILimit[axis] = ABS(errorGyroI[axis]);
|
||||
}
|
||||
|
||||
ITerm = errorGyroI[axis] >> 13;
|
||||
|
||||
//-----calculate D-term
|
||||
|
|
@ -371,8 +346,8 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
|
|||
|
||||
DTerm = 0; // needed for blackbox
|
||||
} else {
|
||||
delta = -(gyroRate - lastRate[axis]);
|
||||
lastRate[axis] = gyroRate;
|
||||
delta = RateErrorSmooth - lastRateError[axis];
|
||||
lastRateError[axis] = RateErrorSmooth;
|
||||
|
||||
// Divide delta by targetLooptime to get differential (ie dr/dt)
|
||||
delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetPidLooptime >> 4))) >> 5;
|
||||
|
|
|
|||
|
|
@ -86,8 +86,8 @@ typedef struct pidProfile_s {
|
|||
struct controlRateConfig_s;
|
||||
union rollAndPitchTrims_u;
|
||||
struct rxConfig_s;
|
||||
typedef void (*pidControllerFuncPtr)(const pidProfile_t *pidProfile, const struct controlRateConfig_s *controlRateConfig,
|
||||
uint16_t max_angle_inclination, const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig); // pid controller function prototype
|
||||
typedef void (*pidControllerFuncPtr)(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
|
||||
const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig); // pid controller function prototype
|
||||
|
||||
extern int16_t axisPID[XYZ_AXIS_COUNT];
|
||||
extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
|
||||
|
|
|
|||
|
|
@ -68,6 +68,7 @@ static pidProfile_t *pidProfile;
|
|||
static bool isUsingSticksToArm = true;
|
||||
|
||||
int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
|
||||
int16_t rcCommandSmooth[4];
|
||||
|
||||
uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e
|
||||
|
||||
|
|
|
|||
|
|
@ -147,6 +147,7 @@ typedef struct controlRateConfig_s {
|
|||
} controlRateConfig_t;
|
||||
|
||||
extern int16_t rcCommand[4];
|
||||
extern int16_t rcCommandSmooth[4];
|
||||
|
||||
typedef struct rcControlsConfig_s {
|
||||
uint8_t deadband; // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
|
||||
|
|
|
|||
|
|
@ -566,7 +566,6 @@ const clivalue_t valueTable[] = {
|
|||
{ "rssi_scale", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_scale, .config.minmax = { RSSI_SCALE_MIN, RSSI_SCALE_MAX } },
|
||||
{ "rssi_ppm_invert", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.rssi_ppm_invert, .config.lookup = { TABLE_OFF_ON } },
|
||||
{ "input_filtering_mode", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.inputFilteringMode, .config.lookup = { TABLE_OFF_ON } },
|
||||
{ "rc_smoothing", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.rcSmoothing, .config.lookup = { TABLE_OFF_ON } },
|
||||
{ "roll_yaw_cam_mix_degrees", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.fpvCamAngleDegrees, .config.minmax = { 0, 50 } },
|
||||
{ "max_aux_channels", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.max_aux_channel, .config.minmax = { 0, 13 } },
|
||||
{ "debug_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.debug_mode, .config.lookup = { TABLE_DEBUG } },
|
||||
|
|
@ -738,9 +737,9 @@ const clivalue_t valueTable[] = {
|
|||
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } },
|
||||
{ "mag_declination", VAR_INT16 | MASTER_VALUE, &masterConfig.mag_declination, .config.minmax = { -18000, 18000 } },
|
||||
{ "dterm_lowpass", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
|
||||
{ "dynamic_pid", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dynamic_pid, .config.lookup = { TABLE_OFF_ON } },
|
||||
{ "iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {50, 1000 } },
|
||||
{ "yaw_iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {25, 1000 } },
|
||||
{ "dynamic_iterm", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dynamic_pid, .config.lookup = { TABLE_OFF_ON } },
|
||||
{ "iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
|
||||
{ "yaw_iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },
|
||||
{ "yaw_lowpass", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
|
||||
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.pid_process_denom, .config.minmax = { 1, 8 } },
|
||||
|
||||
|
|
|
|||
|
|
@ -119,6 +119,7 @@ extern uint8_t PIDweight[3];
|
|||
uint16_t filteredCycleTime;
|
||||
static bool isRXDataNew;
|
||||
static bool armingCalibrationWasInitialised;
|
||||
float angleRate[3], angleRateSmooth[2];
|
||||
|
||||
extern pidControllerFuncPtr pid_controller;
|
||||
|
||||
|
|
@ -167,12 +168,29 @@ bool isCalibrating()
|
|||
return (!isAccelerationCalibrationComplete() && sensors(SENSOR_ACC)) || (!isGyroCalibrationComplete());
|
||||
}
|
||||
|
||||
void filterRc(void)
|
||||
float calculateRate(int axis, int16_t rc) {
|
||||
float angleRate;
|
||||
|
||||
if (isSuperExpoActive()) {
|
||||
float rcFactor = (axis == YAW) ? (ABS(rc) / (500.0f * (currentControlRateProfile->rcYawRate8 / 100.0f))) : (ABS(rc) / (500.0f * (currentControlRateProfile->rcRate8 / 100.0f)));
|
||||
rcFactor = 1.0f / (constrainf(1.0f - (rcFactor * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f));
|
||||
|
||||
angleRate = rcFactor * ((27 * rc) / 16.0f);
|
||||
} else {
|
||||
angleRate = (float)((currentControlRateProfile->rates[axis] + 27) * rc) / 16.0f;
|
||||
}
|
||||
|
||||
|
||||
return constrainf(angleRate, -8190.0f, 8190.0f); // Rate limit protection
|
||||
}
|
||||
|
||||
void processRcCommand(void)
|
||||
{
|
||||
static int16_t lastCommand[4] = { 0, 0, 0, 0 };
|
||||
static int16_t deltaRC[4] = { 0, 0, 0, 0 };
|
||||
static int16_t factor, rcInterpolationFactor;
|
||||
uint16_t rxRefreshRate;
|
||||
int axis;
|
||||
|
||||
// Set RC refresh rate for sampling and channels to filter
|
||||
initRxRefreshRate(&rxRefreshRate);
|
||||
|
|
@ -180,6 +198,8 @@ void filterRc(void)
|
|||
rcInterpolationFactor = rxRefreshRate / targetPidLooptime + 1;
|
||||
|
||||
if (isRXDataNew) {
|
||||
for (axis = 0; axis < 3; axis++) angleRate[axis] = calculateRate(axis, rcCommand[axis]);
|
||||
|
||||
for (int channel=0; channel < 4; channel++) {
|
||||
deltaRC[channel] = rcCommand[channel] - (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
|
||||
lastCommand[channel] = rcCommand[channel];
|
||||
|
|
@ -194,8 +214,9 @@ void filterRc(void)
|
|||
// Interpolate steps of rcCommand
|
||||
if (factor > 0) {
|
||||
for (int channel=0; channel < 4; channel++) {
|
||||
rcCommand[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
|
||||
rcCommandSmooth[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
|
||||
}
|
||||
for (axis = 0; axis < 2; axis++) angleRateSmooth[axis] = calculateRate(axis, rcCommandSmooth[axis]);
|
||||
} else {
|
||||
factor = 0;
|
||||
}
|
||||
|
|
@ -640,7 +661,6 @@ void subTaskPidController(void)
|
|||
// PID - note this is function pointer set by setPIDController()
|
||||
pid_controller(
|
||||
¤tProfile->pidProfile,
|
||||
currentControlRateProfile,
|
||||
masterConfig.max_angle_inclination,
|
||||
&masterConfig.accelerometerTrims,
|
||||
&masterConfig.rxConfig
|
||||
|
|
@ -652,9 +672,7 @@ void subTaskMainSubprocesses(void) {
|
|||
|
||||
const uint32_t startTime = micros();
|
||||
|
||||
if (masterConfig.rxConfig.rcSmoothing || flightModeFlags) {
|
||||
filterRc();
|
||||
}
|
||||
processRcCommand();
|
||||
|
||||
// Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.
|
||||
if (gyro.temperature) {
|
||||
|
|
@ -692,7 +710,8 @@ void subTaskMainSubprocesses(void) {
|
|||
&& masterConfig.mixerMode != MIXER_FLYING_WING
|
||||
#endif
|
||||
) {
|
||||
rcCommand[YAW] = 0;
|
||||
rcCommand[YAW] = rcCommandSmooth[YAW] = 0;
|
||||
angleRate[YAW] = angleRateSmooth[YAW] = 0;
|
||||
}
|
||||
|
||||
if (masterConfig.throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
|
||||
|
|
|
|||
|
|
@ -17,7 +17,7 @@
|
|||
|
||||
#define FC_VERSION_MAJOR 2 // increment when a major release is made (big new feature, etc)
|
||||
#define FC_VERSION_MINOR 8 // increment when a minor release is made (small new feature, change etc)
|
||||
#define FC_VERSION_PATCH_LEVEL 0 // increment when a bug is fixed
|
||||
#define FC_VERSION_PATCH_LEVEL 1 // increment when a bug is fixed
|
||||
|
||||
#define STR_HELPER(x) #x
|
||||
#define STR(x) STR_HELPER(x)
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue