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make itermRelax into enum

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This commit is contained in:
Thorsten Laux 2018-05-29 16:40:23 +02:00
parent 5bdc2ead61
commit dc929baf75
2 changed files with 13 additions and 4 deletions
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6
src/main/flight/pid.c
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@ -140,7 +140,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.throttle_boost_cutoff = 15,
.iterm_rotation = false,
.smart_feedforward = false,
.iterm_relax = false,
.iterm_relax = ITERM_RELAX_OFF,
.iterm_relax_cutoff_low = 3,
.iterm_relax_cutoff_high = 15,
);
@ -202,7 +202,7 @@ static FAST_RAM_ZERO_INIT pt1Filter_t dtermLowpass2[2];
static FAST_RAM_ZERO_INIT filterApplyFnPtr ptermYawLowpassApplyFn;
static FAST_RAM_ZERO_INIT pt1Filter_t ptermYawLowpass;
static FAST_RAM_ZERO_INIT pt1Filter_t windupLpf[3][2];
static FAST_RAM_ZERO_INIT uint8_t itermRelax;
static FAST_RAM_ZERO_INIT itermRelax_e itermRelax;
static FAST_RAM_ZERO_INIT uint8_t itermRelaxCutoffLow;
static FAST_RAM_ZERO_INIT uint8_t itermRelaxCutoffHigh;
@ -628,7 +628,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
// -----calculate I component
float itermErrorRate;
if (itermRelax && (axis < FD_YAW || itermRelax == 2 )) {
if (itermRelax && (axis < FD_YAW || itermRelax == ITERM_RELAX_RPY )) {
const float gyroTargetLow = pt1FilterApply(&windupLpf[axis][0], currentPidSetpoint);
const float gyroTargetHigh = pt1FilterApply(&windupLpf[axis][1], currentPidSetpoint);
if (axis < FD_YAW) {

11
src/main/flight/pid.h
View file

@ -76,6 +76,15 @@ typedef struct pid8_s {
uint8_t D;
} pid8_t;
typedef enum
{
ITERM_RELAX_OFF,
ITERM_RELAX_RP,
ITERM_RELAX_RPY
} itermRelax_e;
typedef struct pidProfile_s {
pid8_t pid[PID_ITEM_COUNT];
@ -118,7 +127,7 @@ typedef struct pidProfile_s {
uint8_t smart_feedforward; // takes only the larger of P and the D weight feed forward term if they have the same sign.
uint8_t iterm_relax_cutoff_low; // Slowest setpoint response to prevent iterm accumulation
uint8_t iterm_relax_cutoff_high; // Fastest setpoint response to prevent iterm accumulation
uint8_t iterm_relax; // Enable iterm suppression during stick input
itermRelax_e iterm_relax; // Enable iterm suppression during stick input
} pidProfile_t;