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Iterm reset rework // Airmode Iterm Protection Configurable // Dynamic Ki

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New defaults
This commit is contained in:
borisbstyle 2016-05-23 23:38:20 +02:00
parent 8149508352
commit ff5c320b4a
12 changed files with 69 additions and 125 deletions
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19
src/main/flight/pid.h
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@ -22,7 +22,6 @@
#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 YAW_ITERM_RESET_OFFSET 15 // May be made configurable in the future, but not really needed for yaw
#define DYNAMIC_PTERM_STICK_THRESHOLD 400
typedef enum {
@ -50,12 +49,6 @@ typedef enum {
DELTA_FROM_MEASUREMENT
} pidDeltaType_e;
typedef enum {
RESET_DISABLE = 0,
RESET_ITERM,
RESET_ITERM_AND_REDUCE_PID
} pidErrorResetOption_e;
typedef enum {
SUPEREXPO_YAW_OFF = 0,
SUPEREXPO_YAW_ON,
@ -71,15 +64,13 @@ typedef struct pidProfile_s {
uint8_t I8[PID_ITEM_COUNT];
uint8_t D8[PID_ITEM_COUNT];
uint8_t itermResetOffset; // Reset offset for Iterm
uint16_t dterm_lpf_hz; // Delta Filter in hz
uint16_t yaw_lpf_hz; // Additional yaw filter when yaw axis too noisy
uint16_t rollPitchItermResetRate; // Experimental threshold for resetting iterm for pitch and roll on certain rates
uint8_t rollPitchItermResetAlways; // Reset Iterm also without SUPER EXPO
uint16_t yawItermResetRate; // Experimental threshold for resetting iterm for yaw 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 yaw_p_limit;
uint8_t dterm_average_count; // Configurable delta count for dterm
uint8_t dynamic_pterm;
uint8_t dynamic_pid; // Dynamic PID implementation (currently only P and I)
#ifdef GTUNE
uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune
@ -98,10 +89,10 @@ typedef void (*pidControllerFuncPtr)(const pidProfile_t *pidProfile, const struc
extern int16_t axisPID[XYZ_AXIS_COUNT];
extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
bool antiWindupProtection;
bool airmodeWasActivated;
extern uint32_t targetPidLooptime;
void pidSetController(pidControllerType_e type);
void pidResetErrorGyroState(uint8_t resetOption);
void pidResetErrorGyroState(void);
void setTargetPidLooptime(uint8_t pidProcessDenom);