Michael Keller
a2ba0af426
Merge pull request #5066 from jirif/pid_optimize
...
Optimize pid loop
2018-02-02 00:49:38 +13:00
Bruce Luckcuck
a32b05c284
Initial implementation of Runaway Takeoff Prevention (anti-taz)
...
Detects runaway pidSum values on takeoff and auto-disarms to prevent the "Tasmanian Devil" caused by incorrect props, wrong motor order/direction, incorrect flight controller orientation, etc. After a successful takeoff and normal flight is detected the feature is disabled for the remainder of the battery.
2018-01-31 07:36:16 -05:00
Bruce Luckcuck
fba0b2cea3
Optimze pidSum calculation by storing the value rather than recalculating in multiple places.
...
Saves 72 bytes. Will save at least that additionally when incorporated into Runaway Takeoff Prevention (which also calculates the pidSum in two places).
Additionally adds a slight performance improvement by not repeating the floating point additions to calculate the pidSum in multiple places. Effectively replaces 2 calculations with 1 (4 with 1 with Runaway Takeoff Prevention).
2018-01-30 09:58:41 -05:00
jirif
b612df0c53
Optimize pid loop
2018-01-30 11:23:03 +01:00
Martin Budden
3747d6742b
Whitespace tidy
2018-01-10 16:56:54 +00:00
Steffen Windoffer
c549b91b5e
remove const from reset_conf( since it allready is defined in the marko
2017-12-21 20:09:38 +01:00
mikeller
b489d0ba9d
Renamed 'parameter_group' to 'pg'.
2017-12-19 23:36:31 +13:00
Michael Keller
b94533ead1
Merge pull request #4767 from martinbudden/bfa_enable_instruction_tcm
...
Enabled Instruction TCM
2017-12-19 01:36:32 +13:00
Martin Budden
b26ff88fd9
Added gyro overflow checking and handling. Helps avoid YSTTM
2017-12-18 05:21:02 +00:00
Martin Budden
de5b0d53ff
Enabled Instruction TCM
2017-12-17 13:41:51 +00:00
Martin Budden
a33a82725e
Add fast RAM support, CCM or TCM depending on processor
2017-12-16 17:42:35 +00:00
Martin Budden
12640972a9
Preparation for using instruction cache on F7
2017-12-15 10:07:19 +00:00
Martin Budden
9060ecb302
Reset ITerm on motor reversal
2017-12-01 07:06:20 +00:00
Martin Budden
e7d2e84348
Merge pull request #4616 from martinbudden/bfa_pid_deltat_us
...
Scaled PID deltaT calculations from us to seconds
2017-11-19 04:58:59 +00:00
Martin Budden
34b48badb9
Scaled PID deltaT calculations from us to seconds
2017-11-19 04:24:40 +00:00
Martin Budden
cfc87d1891
Better separation between GPS and NAV
2017-11-18 08:00:31 +00:00
Martin Budden
9c9f02f550
Use constant dT for ITerm calcualtion to avoid windup caused by jitter
2017-11-17 06:11:53 +00:00
Martin Budden
56ed140e33
Updated to use currentTimeUs, which is time of gyro sampling
2017-11-12 12:49:12 +00:00
Martin Budden
0491eae52e
Update PID calculations to use actual deltaT
2017-11-12 09:40:50 +00:00
mikeller
a8d34dabb0
Changed defines for GYRO/ACC/MAG/BARO/GPS/SONAR/OSD/BLACKBOX/CMS to conform to the USE_ convention.
2017-11-05 10:15:24 +13:00
mikeller
46624d28ca
Added switching off of beeper in all cases when crash recovery is disabled.
2017-10-21 09:12:46 +13:00
Vidalcris
eb9db1ea64
Crash recovery little change for Buzzer
...
I did a mistake in my latest PR and the buzzer was not working at all when quad disarmed.
Now it work and it will also stop beeping if we disarm during a crashrecovery.
2017-10-20 01:19:31 +02:00
Vidalcris
70973bad04
Crash recovery - Fixes #4379
2017-10-19 23:35:06 +02:00
Blaine
9556ea6bf5
Squash and rebase
2017-10-18 00:38:13 -07:00
Michael Keller
39c02c083e
Merge pull request #3832 from martinbudden/bf_pidsum_limits
...
PID sum limits applied before scaling
2017-10-12 00:01:58 +13:00
Martin Budden
db8698d801
Improved initialisation order. Stopped calling pidInit before gyro detected ( #4218 )
2017-09-25 05:15:45 +01:00
Martin Budden
c1a99817f4
Minor tidy of PID code
2017-09-09 07:03:15 +01:00
borisbstyle
00414b29b6
Correct setpoint behaviour
2017-09-08 15:04:39 +02:00
mikeller
f5d2f534b4
Fixed setting of notch filter cutoffs to 0 in CLI.
2017-09-08 14:16:44 +12:00
Martin Budden
0485d5ece7
Merge pull request #4013 from martinbudden/bf_anglelimit
...
Fix to angle mode limit
2017-09-03 20:02:55 +01:00
Martin Budden
e3a921b762
Merge pull request #3636 from basdelfos/copy-profile
...
Copy profile to another profile (MSP and OSD)
2017-08-31 19:59:08 +01:00
Martin Budden
877c82bc3f
Fix to angle mode limit
2017-08-30 09:52:07 +01:00
Martin Budden
eadaff0bdd
Code tidy and comments update
2017-08-30 08:50:40 +01:00
borisbstyle
b2cd7294e9
Change default Iterm Limit to 150
2017-08-28 13:39:33 +02:00
mikeller
41df8adbdb
Fixed lockup when changing dterm filter over MSP.
2017-08-27 00:55:59 +12:00
Martin Budden
7fd3b143ca
Exclude MPU6000 gyro from yaw overflow handling
2017-08-25 10:53:03 +01:00
Martin Budden
c086772e0b
Removed magic number
2017-08-25 08:36:29 +01:00
Martin Budden
879778aeef
Attempt to deal with gyro overflow after crash
2017-08-25 07:46:18 +01:00
Martin Budden
6c8b0f3adf
Avoid necessity for pidInitMixer
2017-08-24 17:34:31 +01:00
Martin Budden
f8faf242fa
Added ITerm limit
2017-08-23 15:16:14 +01:00
Martin Budden
3bae1e78e2
Reset ITerm after crash
2017-08-23 07:22:13 +01:00
Martin Budden
d031b038eb
Allow crash detection and yaw recovery when ACC not enabled
2017-08-23 07:15:28 +01:00
Martin Budden
cd757c8a89
Use crash detection to limit yaw
2017-08-23 07:12:33 +01:00
Martin Budden
be8391e3db
Add gyro yaw limit
2017-08-23 07:12:33 +01:00
Martin Budden
8dd4a584c1
Fixed whitespace
2017-08-17 08:32:37 +01:00
Martin Budden
34161298fb
Combined PID LPF filters into a union
2017-07-30 13:39:31 +01:00
Bas Delfos
d32abc69f8
Copy profile to another profile (CLI, MSP and CMS)
2017-07-29 22:10:14 +02:00
Martin Budden
d180266f7d
Improved rx, failsafe and pid structure alignments
2017-07-29 17:35:43 +01:00
Vidalcris
69f4008944
Crash Recovery Delay - Against false positive. ( #3640 )
...
Delay detection setting - crash_delay added.
2017-07-29 06:37:02 +01:00
Martin Budden
c1f74c9aed
Tidy of pid code
2017-07-27 09:57:02 +01:00
