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Merge branch 'master' into development

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borisbstyle 2016-10-08 01:17:07 +02:00
commit e7bd930ff5
4 changed files with 5 additions and 2 deletions
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1
src/main/config/config.c
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@ -169,6 +169,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->D8[PIDVEL] = 75; pidProfile->D8[PIDVEL] = 75;
pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX; pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
pidProfile->pidSumLimit = PIDSUM_LIMIT;
pidProfile->yaw_lpf_hz = 0; pidProfile->yaw_lpf_hz = 0;
pidProfile->rollPitchItermIgnoreRate = 130; pidProfile->rollPitchItermIgnoreRate = 130;
pidProfile->yawItermIgnoreRate = 32; pidProfile->yawItermIgnoreRate = 32;

2
src/main/flight/pid.h
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@ -22,6 +22,7 @@
#define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter #define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter
#define YAW_JUMP_PREVENTION_LIMIT_LOW 80 #define YAW_JUMP_PREVENTION_LIMIT_LOW 80
#define YAW_JUMP_PREVENTION_LIMIT_HIGH 400 #define YAW_JUMP_PREVENTION_LIMIT_HIGH 400
#define PIDSUM_LIMIT 700
#define DYNAMIC_PTERM_STICK_THRESHOLD 400 #define DYNAMIC_PTERM_STICK_THRESHOLD 400
@ -83,6 +84,7 @@ typedef struct pidProfile_s {
uint16_t rollPitchItermIgnoreRate; // Experimental threshold for resetting iterm for pitch and roll on certain rates uint16_t rollPitchItermIgnoreRate; // Experimental threshold for resetting iterm for pitch and roll on certain rates
uint16_t yawItermIgnoreRate; // Experimental threshold for resetting iterm for yaw on certain rates uint16_t yawItermIgnoreRate; // Experimental threshold for resetting iterm for yaw on certain rates
uint16_t yaw_p_limit; uint16_t yaw_p_limit;
uint16_t pidSumLimit;
uint8_t dterm_average_count; // Configurable delta count for dterm uint8_t dterm_average_count; // Configurable delta count for dterm
uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage
uint8_t pidAtMinThrottle; // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active. uint8_t pidAtMinThrottle; // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.

2
src/main/flight/pid_betaflight.c
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@ -220,7 +220,7 @@ void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
DTerm = Kd[axis] * delta * tpaFactor; DTerm = Kd[axis] * delta * tpaFactor;
// -----calculate total PID output // -----calculate total PID output
axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -800, 800); axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
} else { } else {
if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT()); if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());

2
src/main/io/serial_cli.c
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@ -815,7 +815,7 @@ const clivalue_t valueTable[] = {
{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, .config.minmax = { -1, 1 } }, { "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, .config.minmax = { -1, 1 } },
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } }, { "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
{ "pidsum_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidSumLimit, .config.minmax = { 100, 1000 } },
#ifdef USE_SERVOS #ifdef USE_SERVOS
{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &masterConfig.servoConfig.servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, { "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &masterConfig.servoConfig.servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } }, { "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },