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Move to pid.c, add relax to offset drag based component, make configurable

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This commit is contained in:
Thorsten Laux 2018-12-09 14:21:44 +01:00
parent 4442de5591
commit d4512672fe
3 changed files with 20 additions and 1 deletions
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14
src/main/flight/pid.c
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@ -178,6 +178,8 @@ void resetPidProfile(pidProfile_t *pidProfile)
.launchControlAngleLimit = 0,
.launchControlGain = 40,
.launchControlAllowTriggerReset = true,
.use_integrated_yaw = false,
.integrated_yaw_relax = 200
);
#ifdef USE_DYN_LPF
pidProfile->dterm_lowpass_hz = 150;
@ -436,6 +438,8 @@ static FAST_RAM_ZERO_INIT uint8_t launchControlMode;
static FAST_RAM_ZERO_INIT uint8_t launchControlAngleLimit;
static FAST_RAM_ZERO_INIT float launchControlKi;
#endif
static FAST_RAM_ZERO_INIT bool useIntegratedYaw;
static FAST_RAM_ZERO_INIT uint8_t integratedYawRelax;
void pidResetIterm(void)
{
@ -573,6 +577,8 @@ void pidInitConfig(const pidProfile_t *pidProfile)
}
launchControlKi = ITERM_SCALE * pidProfile->launchControlGain;
#endif
useIntegratedYaw = pidProfile->use_integrated_yaw;
integratedYawRelax = pidProfile->integrated_yaw_relax;
}
void pidInit(const pidProfile_t *pidProfile)
@ -1241,7 +1247,13 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
}
#endif
// calculating the PID sum
pidData[axis].Sum = pidData[axis].P + pidData[axis].I + pidData[axis].D + pidData[axis].F;
const float pidSum = pidData[axis].P + pidData[axis].I + pidData[axis].D + pidData[axis].F;
if (axis == FD_YAW && useIntegratedYaw) {
pidData[axis].Sum += pidSum * dT * 100.0f;
pidData[axis].Sum -= pidData[axis].Sum * integratedYawRelax / 100000.0f * dT / 0.000125f;
} else {
pidData[axis].Sum = pidSum;
}
}
// Disable PID control if at zero throttle or if gyro overflow detected