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Code Issues Wiki Activity

Throttle boost (#5508)

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* throttle boost which temporarily boosts throttle in both directions to improve response

* fix comment and use pt1FilterGain

* incorporate review suggestions

* incorporate review suggestions

* use float constant to avoid double promotion

* formatting changes

* formatting change

* hopefully last style changes
This commit is contained in:
joelucid 2018-03-24 23:33:22 +01:00 • committed by Michael Keller
parent 172642383d
commit efda704ee5
4 changed files with 22 additions and 1 deletions
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4
src/main/flight/mixer.c
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@ -765,6 +765,10 @@ void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensation)
}
motorMixRange = motorMixMax - motorMixMin;
if (throttleBoost > 0.0f) {
float throttlehpf = throttle - pt1FilterApply(&throttleLpf, throttle);
throttle = constrainf(throttle + throttleBoost * throttlehpf, 0.0f, 1.0f);
}
if (motorMixRange > 1.0f) {
for (int i = 0; i < motorCount; i++) {

9
src/main/flight/pid.c
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@ -130,7 +130,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
.horizon_tilt_effect = 75,
.horizon_tilt_expert_mode = false,
.crash_limit_yaw = 200,
.itermLimit = 150
.itermLimit = 150,
.throttle_boost = 0,
.throttle_boost_cutoff = 15
);
}
@ -266,6 +268,8 @@ void pidInitFilters(const pidProfile_t *pidProfile)
ptermYawLowpassApplyFn = (filterApplyFnPtr)pt1FilterApply;
pt1FilterInit(&ptermYawLowpass, pt1FilterGain(pidProfile->yaw_lowpass_hz, dT));
}
pt1FilterInit(&throttleLpf, pt1FilterGain(pidProfile->throttle_boost_cutoff, dT));
}
static FAST_RAM float Kp[3], Ki[3], Kd[3];
@ -284,6 +288,8 @@ static FAST_RAM float crashGyroThreshold;
static FAST_RAM float crashSetpointThreshold;
static FAST_RAM float crashLimitYaw;
static FAST_RAM float itermLimit;
FAST_RAM float throttleBoost;
pt1Filter_t throttleLpf;
void pidInitConfig(const pidProfile_t *pidProfile)
{
@ -317,6 +323,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
crashSetpointThreshold = pidProfile->crash_setpoint_threshold;
crashLimitYaw = pidProfile->crash_limit_yaw;
itermLimit = pidProfile->itermLimit;
throttleBoost = pidProfile->throttle_boost * 0.1f;
}
void pidInit(const pidProfile_t *pidProfile)

7
src/main/flight/pid.h
View file

@ -19,6 +19,7 @@
#include <stdbool.h>
#include "common/time.h"
#include "common/filter.h"
#include "pg/pg.h"
#define MAX_PID_PROCESS_DENOM 16
@ -106,6 +107,9 @@ typedef struct pidProfile_s {
uint16_t crash_limit_yaw; // limits yaw errorRate, so crashes don't cause huge throttle increase
uint16_t itermLimit;
uint16_t dterm_lowpass2_hz; // Extra PT1 Filter on D in hz
uint8_t throttle_boost; // how much should throttle be boosted during transient changes 0-100, 100 adds 10x hpf filtered throttle
uint8_t throttle_boost_cutoff; // Which cutoff frequency to use for throttle boost. higher cutoffs keep the boost on for shorter. Specified in hz.
} pidProfile_t;
#ifndef USE_OSD_SLAVE
@ -140,3 +144,6 @@ void pidInitConfig(const pidProfile_t *pidProfile);
void pidInit(const pidProfile_t *pidProfile);
void pidCopyProfile(uint8_t dstPidProfileIndex, uint8_t srcPidProfileIndex);
bool crashRecoveryModeActive(void);
FAST_RAM float throttleBoost;
pt1Filter_t throttleLpf;

3
src/main/interface/settings.c
View file

@ -714,6 +714,9 @@ const clivalue_t valueTable[] = {
{ "pidsum_limit_yaw", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 100, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, pidSumLimitYaw) },
{ "yaw_lowpass_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yaw_lowpass_hz) },
{ "throttle_boost", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, throttle_boost) },
{ "throttle_boost_cutoff", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 5, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, throttle_boost_cutoff) },
{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_PITCH].P) },
{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_PITCH].I) },
{ "d_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_PITCH].D) },