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Code Issues Wiki Activity

Added separate yaw pidsum limit

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This commit is contained in:
Martin Budden 2017-03-04 07:53:03 +00:00 • committed by borisbstyle
parent 1ec8f411a2
commit f390f35c30
7 changed files with 13 additions and 13 deletions
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3
src/main/blackbox/blackbox.c
View file

@ -1251,7 +1251,6 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz:%d", currentProfile->pidProfile.dterm_notch_hz);
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff:%d", currentProfile->pidProfile.dterm_notch_cutoff);
BLACKBOX_PRINT_HEADER_LINE("itermWindupPointPercent:%d", currentProfile->pidProfile.itermWindupPointPercent);
BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d", currentProfile->pidProfile.yaw_p_limit);
BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d", currentProfile->pidProfile.dterm_average_count);
BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d", currentProfile->pidProfile.vbatPidCompensation);
BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle:%d", currentProfile->pidProfile.pidAtMinThrottle);
@ -1263,6 +1262,8 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d", currentProfile->pidProfile.dtermSetpointWeight);
BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d", castFloatBytesToInt(currentProfile->pidProfile.yawRateAccelLimit));
BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d", castFloatBytesToInt(currentProfile->pidProfile.rateAccelLimit));
BLACKBOX_PRINT_HEADER_LINE("pidSumLimit:%d", castFloatBytesToInt(currentProfile->pidProfile.pidSumLimit));
BLACKBOX_PRINT_HEADER_LINE("pidSumLimitYaw:%d", castFloatBytesToInt(currentProfile->pidProfile.pidSumLimitYaw));
// End of Betaflight controller parameters
BLACKBOX_PRINT_HEADER_LINE("deadband:%d", rcControlsConfig()->deadband);

2
src/main/cms/cms_menu_imu.c
View file

@ -307,7 +307,6 @@ static uint16_t cmsx_dterm_lpf_hz;
static uint16_t cmsx_dterm_notch_hz;
static uint16_t cmsx_dterm_notch_cutoff;
static uint16_t cmsx_yaw_lpf_hz;
static uint16_t cmsx_yaw_p_limit;
static long cmsx_FilterPerProfileRead(void)
{
@ -341,7 +340,6 @@ static OSD_Entry cmsx_menuFilterPerProfileEntries[] =
{ "DTERM NF", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_notch_hz, 0, 500, 1 }, 0 },
{ "DTERM NFCO", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_notch_cutoff, 0, 500, 1 }, 0 },
{ "YAW LPF", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_yaw_lpf_hz, 0, 500, 1 }, 0 },
{ "YAW P LIM", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_yaw_p_limit, 100, 500, 1 }, 0 },
{ "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, NULL, NULL, 0 }

4
src/main/fc/cli.c
View file

@ -643,8 +643,10 @@ const clivalue_t valueTable[] = {
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &rcControlsConfig()->yaw_control_direction, .config.minmax = { -1, 1 } },
{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &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 } },
{ "pidsum_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidSumLimit, .config.minmax = { 0.1, 1.0 } },
{ "pidsum_limit_yaw", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidSumLimitYaw, .config.minmax = { 0.1, 1.0 } },
#ifdef USE_SERVOS
{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &servoConfig()->servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &servoMixerConfig()->tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },

2
src/main/fc/config.c
View file

@ -162,8 +162,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->I8[PIDVEL] = 55;
pidProfile->D8[PIDVEL] = 75;
pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
pidProfile->pidSumLimit = PIDSUM_LIMIT;
pidProfile->pidSumLimitYaw = PIDSUM_LIMIT_YAW;
pidProfile->yaw_lpf_hz = 0;
pidProfile->itermWindupPointPercent = 50;
pidProfile->dterm_filter_type = FILTER_BIQUAD;

4
src/main/fc/fc_msp.c
View file

@ -1163,7 +1163,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_PID_ADVANCED:
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, currentProfile->pidProfile.yaw_p_limit);
sbufWriteU16(dst, 0); // was pidProfile.yaw_p_limit
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, currentProfile->pidProfile.vbatPidCompensation);
sbufWriteU8(dst, currentProfile->pidProfile.setpointRelaxRatio);
@ -1549,7 +1549,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_PID_ADVANCED:
sbufReadU16(src);
sbufReadU16(src);
currentProfile->pidProfile.yaw_p_limit = sbufReadU16(src);
sbufReadU16(src); // was pidProfile.yaw_p_limit
sbufReadU8(src); // reserved
currentProfile->pidProfile.vbatPidCompensation = sbufReadU8(src);
currentProfile->pidProfile.setpointRelaxRatio = sbufReadU8(src);

6
src/main/flight/mixer.c
View file

@ -480,9 +480,9 @@ void mixTable(pidProfile_t *pidProfile)
float scaledAxisPIDf[3];
// Limit the PIDsum
for (int axis = 0; axis < 3; axis++) {
scaledAxisPIDf[axis] = constrainf(axisPIDf[axis] / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
}
scaledAxisPIDf[FD_ROLL] = constrainf(axisPIDf[FD_ROLL] / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
scaledAxisPIDf[FD_PITCH] = constrainf(axisPIDf[FD_PITCH] / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
scaledAxisPIDf[FD_YAW] = constrainf(axisPIDf[FD_YAW] / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimitYaw);
// Calculate voltage compensation
const float vbatCompensationFactor = (batteryConfig && pidProfile->vbatPidCompensation) ? calculateVbatPidCompensation() : 1.0f;

5
src/main/flight/pid.h
View file

@ -23,9 +23,8 @@
#define PID_CONTROLLER_BETAFLIGHT 1
#define PID_MIXER_SCALING 1000.0f
#define PID_SERVO_MIXER_SCALING 0.7f
#define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter
#define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter
#define PIDSUM_LIMIT 0.5f
#define PIDSUM_LIMIT_YAW 0.4f
// Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float
#define PTERM_SCALE 0.032029f
@ -68,8 +67,8 @@ typedef struct pidProfile_s {
uint16_t dterm_notch_hz; // Biquad dterm notch hz
uint16_t dterm_notch_cutoff; // Biquad dterm notch low cutoff
uint8_t itermWindupPointPercent; // Experimental ITerm windup threshold, percent motor saturation
uint16_t yaw_p_limit;
float pidSumLimit;
float pidSumLimitYaw;
uint8_t dterm_average_count; // Configurable delta count for dterm
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.