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Allow inflight adjustments for floating-point based PID controllers.

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This commit is contained in:
Dominic Clifton 2015-01-30 20:54:34 +01:00
parent e33fd411c5
commit f77a762b48
12 changed files with 295 additions and 34 deletions
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75
src/main/io/rc_controls.c
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@ -21,6 +21,8 @@
#include <math.h>
#include "platform.h"
#include "common/axis.h"
#include "common/maths.h"
@ -360,6 +362,7 @@ void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adj
void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
int newValue;
float newFloatValue;
if (delta > 0) {
queueConfirmationBeep(2);
@ -391,34 +394,70 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
controlRateConfig->yawRate = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
break;
case ADJUSTMENT_PITCH_ROLL_P:
newValue = (int)pidProfile->P8[PIDPITCH] + delta;
pidProfile->P8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
newValue = (int)pidProfile->P8[PIDROLL] + delta;
pidProfile->P8[PIDROLL] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->P_f[PIDPITCH] + delta;
pidProfile->P_f[PIDPITCH] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = (int)pidProfile->P_f[PIDROLL] + delta;
pidProfile->P_f[PIDROLL] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->P8[PIDPITCH] + delta;
pidProfile->P8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
newValue = (int)pidProfile->P8[PIDROLL] + delta;
pidProfile->P8[PIDROLL] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
}
break;
case ADJUSTMENT_PITCH_ROLL_I:
newValue = (int)pidProfile->I8[PIDPITCH] + delta;
pidProfile->I8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
newValue = (int)pidProfile->I8[PIDROLL] + delta;
pidProfile->I8[PIDROLL] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->I_f[PIDPITCH] + delta;
pidProfile->I_f[PIDPITCH] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = (int)pidProfile->I_f[PIDROLL] + delta;
pidProfile->I_f[PIDROLL] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->I8[PIDPITCH] + delta;
pidProfile->I8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
newValue = (int)pidProfile->I8[PIDROLL] + delta;
pidProfile->I8[PIDROLL] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
}
break;
case ADJUSTMENT_PITCH_ROLL_D:
newValue = (int)pidProfile->D8[PIDPITCH] + delta;
pidProfile->D8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
newValue = (int)pidProfile->D8[PIDROLL] + delta;
pidProfile->D8[PIDROLL] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->D_f[PIDPITCH] + delta;
pidProfile->D_f[PIDPITCH] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = (int)pidProfile->D_f[PIDROLL] + delta;
pidProfile->D_f[PIDROLL] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->D8[PIDPITCH] + delta;
pidProfile->D8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
newValue = (int)pidProfile->D8[PIDROLL] + delta;
pidProfile->D8[PIDROLL] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
}
break;
case ADJUSTMENT_YAW_P:
newValue = (int)pidProfile->P8[PIDYAW] + delta;
pidProfile->P8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->P_f[PIDYAW] + delta;
pidProfile->P_f[PIDYAW] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->P8[PIDYAW] + delta;
pidProfile->P8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
}
break;
case ADJUSTMENT_YAW_I:
newValue = (int)pidProfile->I8[PIDYAW] + delta;
pidProfile->I8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->I_f[PIDYAW] + delta;
pidProfile->I_f[PIDYAW] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->I8[PIDYAW] + delta;
pidProfile->I8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
}
break;
case ADJUSTMENT_YAW_D:
newValue = (int)pidProfile->D8[PIDYAW] + delta;
pidProfile->D8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->D_f[PIDYAW] + delta;
pidProfile->D_f[PIDYAW] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->D8[PIDYAW] + delta;
pidProfile->D8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
}
break;
default:
break;