mirror of
https://github.com/betaflight/betaflight.git
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Normalize all the line endings
This commit is contained in:
Dominic Clifton
parent
4237370b60
commit
d60183d91d
396 changed files with 158300 additions and 158300 deletions
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@ -1,346 +1,346 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <math.h>
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#include <platform.h>
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#include "build_config.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "config/runtime_config.h"
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#include "rx/rx.h"
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#include "drivers/accgyro.h"
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#include "sensors/sensors.h"
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#include "sensors/gyro.h"
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#include "io/rc_controls.h"
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#include "flight/flight.h"
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#include "flight/navigation.h"
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#include "flight/autotune.h"
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#include "io/gps.h"
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extern uint16_t cycleTime;
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int16_t heading, magHold;
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int16_t axisPID[3];
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uint8_t dynP8[3], dynI8[3], dynD8[3];
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static int32_t errorGyroI[3] = { 0, 0, 0 };
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static float errorGyroIf[3] = { 0.0f, 0.0f, 0.0f };
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static int32_t errorAngleI[2] = { 0, 0 };
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static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
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uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim);
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typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
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uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim); // pid controller function prototype
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pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are we using, defaultMultiWii
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void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
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{
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rollAndPitchTrims->values.roll = 0;
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rollAndPitchTrims->values.pitch = 0;
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}
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void resetErrorAngle(void)
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{
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errorAngleI[ROLL] = 0;
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errorAngleI[PITCH] = 0;
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}
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void resetErrorGyro(void)
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{
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errorGyroI[ROLL] = 0;
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errorGyroI[PITCH] = 0;
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errorGyroI[YAW] = 0;
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errorGyroIf[ROLL] = 0;
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errorGyroIf[PITCH] = 0;
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errorGyroIf[YAW] = 0;
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}
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const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
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#ifdef AUTOTUNE
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bool shouldAutotune(void)
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{
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return ARMING_FLAG(ARMED) && FLIGHT_MODE(AUTOTUNE_MODE);
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}
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#endif
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static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
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uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim)
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{
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float RateError, errorAngle, AngleRate, gyroRate;
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float ITerm,PTerm,DTerm;
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static float lastGyroRate[3];
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static float delta1[3], delta2[3];
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float delta, deltaSum;
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float dT;
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int axis;
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dT = (float)cycleTime * 0.000001f;
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// ----------PID controller----------
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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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if (axis == FD_YAW) {
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// YAW is always gyro-controlled (MAG correction is applied to rcCommand) 100dps to 1100dps max yaw rate
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AngleRate = (float)((controlRateConfig->yawRate + 10) * rcCommand[YAW]) / 50.0f;
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} else {
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// calculate error and limit the angle to the max inclination
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#ifdef GPS
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errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
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#else
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errorAngle = (constrain(rcCommand[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
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#endif
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#ifdef AUTOTUNE
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if (shouldAutotune()) {
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errorAngle = autotune(rcAliasToAngleIndexMap[axis], &inclination, errorAngle);
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}
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#endif
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if (FLIGHT_MODE(ANGLE_MODE)) {
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// it's the ANGLE mode - control is angle based, so control loop is needed
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AngleRate = errorAngle * pidProfile->A_level;
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} else {
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//control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
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AngleRate = (float)((controlRateConfig->rollPitchRate + 20) * rcCommand[axis]) / 50.0f; // 200dps to 1200dps max yaw rate
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if (FLIGHT_MODE(HORIZON_MODE)) {
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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->H_level;
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}
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}
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}
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gyroRate = gyroData[axis] * gyro.scale; // gyro output scaled to dps
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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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// -----calculate P component
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PTerm = RateError * pidProfile->P_f[axis];
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// -----calculate I component
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errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis], -250.0f, 250.0f);
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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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//-----calculate D-term
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delta = gyroRate - lastGyroRate[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
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lastGyroRate[axis] = gyroRate;
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// Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
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// would be scaled by different dt each time. Division by dT fixes that.
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delta *= (1.0f / dT);
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// add moving average here to reduce noise
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deltaSum = delta1[axis] + delta2[axis] + delta;
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delta2[axis] = delta1[axis];
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delta1[axis] = delta;
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DTerm = constrainf((deltaSum / 3.0f) * pidProfile->D_f[axis], -300.0f, 300.0f);
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// -----calculate total PID output
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axisPID[axis] = constrain(lrintf(PTerm + ITerm - DTerm), -1000, 1000);
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}
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}
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static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
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uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim)
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{
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int axis, prop;
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int32_t error, errorAngle;
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int32_t PTerm, ITerm, PTermACC = 0, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
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static int16_t lastGyro[3] = { 0, 0, 0 };
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static int32_t delta1[3], delta2[3];
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int32_t deltaSum;
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int32_t delta;
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UNUSED(controlRateConfig);
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// **** PITCH & ROLL & YAW PID ****
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prop = max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])); // range [0;500]
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for (axis = 0; axis < 3; axis++) {
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if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC
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// observe max inclination
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#ifdef GPS
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errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
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#else
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errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
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#endif
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#ifdef AUTOTUNE
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if (shouldAutotune()) {
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errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
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}
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#endif
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PTermACC = errorAngle * pidProfile->P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
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PTermACC = constrain(PTermACC, -pidProfile->D8[PIDLEVEL] * 5, +pidProfile->D8[PIDLEVEL] * 5);
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errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp
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ITermACC = (errorAngleI[axis] * pidProfile->I8[PIDLEVEL]) >> 12;
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}
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if (!FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE) || axis == FD_YAW) { // MODE relying on GYRO or YAW axis
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error = (int32_t) rcCommand[axis] * 10 * 8 / pidProfile->P8[axis];
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error -= gyroData[axis] / 4;
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PTermGYRO = rcCommand[axis];
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errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
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if ((abs(gyroData[axis]) > (640 * 4)) || (axis == FD_YAW && abs(rcCommand[axis]) > 100))
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errorGyroI[axis] = 0;
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ITermGYRO = (errorGyroI[axis] / 125 * pidProfile->I8[axis]) / 64;
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}
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if (FLIGHT_MODE(HORIZON_MODE) && (axis == FD_ROLL || axis == FD_PITCH)) {
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PTerm = (PTermACC * (500 - prop) + PTermGYRO * prop) / 500;
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ITerm = (ITermACC * (500 - prop) + ITermGYRO * prop) / 500;
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} else {
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if (FLIGHT_MODE(ANGLE_MODE) && (axis == FD_ROLL || axis == FD_PITCH)) {
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PTerm = PTermACC;
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ITerm = ITermACC;
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} else {
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PTerm = PTermGYRO;
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ITerm = ITermGYRO;
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}
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}
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PTerm -= ((int32_t)gyroData[axis] / 4) * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
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delta = (gyroData[axis] - lastGyro[axis]) / 4;
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lastGyro[axis] = gyroData[axis];
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deltaSum = delta1[axis] + delta2[axis] + delta;
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delta2[axis] = delta1[axis];
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delta1[axis] = delta;
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DTerm = (deltaSum * dynD8[axis]) / 32;
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axisPID[axis] = PTerm + ITerm - DTerm;
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}
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}
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#define GYRO_I_MAX 256
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static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
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rollAndPitchTrims_t *angleTrim)
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{
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int32_t errorAngle;
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int axis;
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int32_t delta, deltaSum;
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static int32_t delta1[3], delta2[3];
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int32_t PTerm, ITerm, DTerm;
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static int32_t lastError[3] = { 0, 0, 0 };
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int32_t AngleRateTmp, RateError;
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// ----------PID controller----------
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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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if (axis == FD_YAW) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
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AngleRateTmp = (((int32_t)(controlRateConfig->yawRate + 27) * rcCommand[YAW]) >> 5);
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} else {
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// calculate error and limit the angle to max configured inclination
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#ifdef GPS
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errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]; // 16 bits is ok here
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#else
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errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]; // 16 bits is ok here
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#endif
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#ifdef AUTOTUNE
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if (shouldAutotune()) {
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errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
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}
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#endif
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if (!FLIGHT_MODE(ANGLE_MODE)) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
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AngleRateTmp = ((int32_t)(controlRateConfig->rollPitchRate + 27) * rcCommand[axis]) >> 4;
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if (FLIGHT_MODE(HORIZON_MODE)) {
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// mix up angle error to desired AngleRateTmp to add a little auto-level feel
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AngleRateTmp += (errorAngle * pidProfile->I8[PIDLEVEL]) >> 8;
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}
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} else { // it's the ANGLE mode - control is angle based, so control loop is needed
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AngleRateTmp = (errorAngle * pidProfile->P8[PIDLEVEL]) >> 4;
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}
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}
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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 = AngleRateTmp - (gyroData[axis] / 4);
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// -----calculate P component
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PTerm = (RateError * pidProfile->P8[axis]) >> 7;
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// -----calculate I component
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// there should be no division before accumulating the error to integrator, because the precision would be reduced.
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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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errorGyroI[axis] = errorGyroI[axis] + ((RateError * cycleTime) >> 11) * pidProfile->I8[axis];
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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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errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
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ITerm = errorGyroI[axis] >> 13;
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//-----calculate D-term
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delta = RateError - lastError[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
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lastError[axis] = RateError;
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// Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
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// would be scaled by different dt each time. Division by dT fixes that.
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delta = (delta * ((uint16_t) 0xFFFF / (cycleTime >> 4))) >> 6;
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// add moving average here to reduce noise
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deltaSum = delta1[axis] + delta2[axis] + delta;
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delta2[axis] = delta1[axis];
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delta1[axis] = delta;
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DTerm = (deltaSum * pidProfile->D8[axis]) >> 8;
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// -----calculate total PID output
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axisPID[axis] = PTerm + ITerm + DTerm;
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}
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}
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void setPIDController(int type)
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{
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switch (type) {
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case 0:
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default:
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pid_controller = pidMultiWii;
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break;
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case 1:
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pid_controller = pidRewrite;
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break;
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case 2:
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pid_controller = pidBaseflight;
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}
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}
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/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
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* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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||||
#include <stdbool.h>
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#include <stdint.h>
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#include <math.h>
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#include <platform.h>
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||||
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#include "build_config.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "config/runtime_config.h"
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#include "rx/rx.h"
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#include "drivers/accgyro.h"
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#include "sensors/sensors.h"
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#include "sensors/gyro.h"
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#include "io/rc_controls.h"
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#include "flight/flight.h"
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#include "flight/navigation.h"
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#include "flight/autotune.h"
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#include "io/gps.h"
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extern uint16_t cycleTime;
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int16_t heading, magHold;
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int16_t axisPID[3];
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uint8_t dynP8[3], dynI8[3], dynD8[3];
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static int32_t errorGyroI[3] = { 0, 0, 0 };
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static float errorGyroIf[3] = { 0.0f, 0.0f, 0.0f };
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static int32_t errorAngleI[2] = { 0, 0 };
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static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
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uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim);
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typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
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||||
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim); // pid controller function prototype
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||||
|
||||
pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are we using, defaultMultiWii
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||||
|
||||
void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
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{
|
||||
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 };
|
||||
|
||||
#ifdef AUTOTUNE
|
||||
bool shouldAutotune(void)
|
||||
{
|
||||
return ARMING_FLAG(ARMED) && FLIGHT_MODE(AUTOTUNE_MODE);
|
||||
}
|
||||
#endif
|
||||
|
||||
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 the max inclination
|
||||
#ifdef GPS
|
||||
errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
|
||||
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
|
||||
#else
|
||||
errorAngle = (constrain(rcCommand[axis], -((int) max_angle_inclination),
|
||||
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
|
||||
#endif
|
||||
|
||||
#ifdef AUTOTUNE
|
||||
if (shouldAutotune()) {
|
||||
errorAngle = autotune(rcAliasToAngleIndexMap[axis], &inclination, errorAngle);
|
||||
}
|
||||
#endif
|
||||
|
||||
if (FLIGHT_MODE(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 (FLIGHT_MODE(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;
|
||||
|
||||
UNUSED(controlRateConfig);
|
||||
|
||||
// **** PITCH & ROLL & YAW PID ****
|
||||
prop = max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])); // range [0;500]
|
||||
for (axis = 0; axis < 3; axis++) {
|
||||
if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC
|
||||
// observe max inclination
|
||||
#ifdef GPS
|
||||
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
|
||||
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
|
||||
#else
|
||||
errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
|
||||
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
|
||||
#endif
|
||||
|
||||
#ifdef AUTOTUNE
|
||||
if (shouldAutotune()) {
|
||||
errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
|
||||
}
|
||||
#endif
|
||||
|
||||
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 (!FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(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)) || (axis == FD_YAW && abs(rcCommand[axis]) > 100))
|
||||
errorGyroI[axis] = 0;
|
||||
|
||||
ITermGYRO = (errorGyroI[axis] / 125 * pidProfile->I8[axis]) / 64;
|
||||
}
|
||||
if (FLIGHT_MODE(HORIZON_MODE) && (axis == FD_ROLL || axis == FD_PITCH)) {
|
||||
PTerm = (PTermACC * (500 - prop) + PTermGYRO * prop) / 500;
|
||||
ITerm = (ITermACC * (500 - prop) + ITermGYRO * prop) / 500;
|
||||
} else {
|
||||
if (FLIGHT_MODE(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[YAW]) >> 5);
|
||||
} else {
|
||||
// calculate error and limit the angle to max configured inclination
|
||||
#ifdef GPS
|
||||
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
|
||||
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]; // 16 bits is ok here
|
||||
#else
|
||||
errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
|
||||
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]; // 16 bits is ok here
|
||||
#endif
|
||||
|
||||
#ifdef AUTOTUNE
|
||||
if (shouldAutotune()) {
|
||||
errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
|
||||
}
|
||||
#endif
|
||||
|
||||
if (!FLIGHT_MODE(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 (FLIGHT_MODE(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