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12271 commits 10 branches 287 tags 530 MiB
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459 commits

Author SHA1 Message Date
borisbstyle
ad892400e5 Cleanup and optimize new anti windup // Simplify relaxFactor to Dterm 2017-01-29 02:35:11 +01:00
Martin Budden
9dfb3e45ee Add ITerm anti-windup based on motor output saturation 
Added noise threshold for PID ITerm accumulation

Removed ITerm setpoint scaler. Added CLI and MSP settings

Made default ITerm noise threshold zero. Added CLI setting.

Removed itermWindupPointPercent from MSP
 2017-01-29 01:30:35 +01:00
borisbstyle
093115a2a0 Add anti_gravity_gain // new defaults 2017-01-19 00:00:33 +01:00
mikeller
5e45ec3293 Renamed 'serial_cli' and 'fc_main'. 2017-01-11 23:22:03 +13:00
Martin Budden
d8faab6539 Minor optimisations to PIDLOOP 2017-01-08 11:50:43 +00:00
borisbstyle
b5d1ef779c More readable horizonlevelStrength 2016-12-31 02:00:49 +01:00
borisbstyle
6114e4a42d Fix Level mode angle calculation // refactor cli angle parameters 2016-12-31 01:40:48 +01:00
Martin Budden
5d63f83f6c Fixed use of uninitialised currentPidSetpoint 2016-12-30 23:30:23 +00:00
Martin Budden
73fc0df0ed Minor tidy of PID code 2016-12-30 22:01:54 +00:00
borisbstyle
1030df294d PID code cleanup // refactoring 2016-12-30 14:00:10 +01:00
borisbstyle
4e3704374a Cleanup mw.c // Remove unnecessary functions 2016-12-30 14:00:10 +01:00
Martin Budden
9e2fd0e51c Replaced use of power function 2016-12-17 08:25:07 +00:00
Martin Budden
d72b4e96c9 Separated out pidConfig_t items 2016-12-15 09:12:42 +00:00
Martin Budden
b8b9c95f57 Moved sensor global data into sensor_s structs 2016-12-01 17:47:17 +00:00
Martin Budden
fd5710051e Merge pull request #1606 from martinbudden/bf_gyro_isr 
Gyro initialisation refactoring
 2016-12-01 18:43:43 +01:00
borisbstyle
9a3c8191af Refactor errorGyroIf 2016-11-30 21:32:28 +01:00
borisbstyle
28ce3081c6 Remove double define // name consistency 2016-11-30 21:26:58 +01:00
borisbstyle
4a0f678dec Add PID config initialisation 2016-11-30 21:16:49 +01:00
Martin Budden
590e569375 Changed gyro init and read functions to take a gyro_t* parameter. 
Scaled gyro values to degrees per second in gyroUpdate.
 2016-11-30 16:59:55 +00:00
borisbstyle
ccd759d93a Remove unnecessary lazy initialisation flag checks 2016-11-26 21:30:21 +01:00
Martin Budden
e9407f3065 Tidied initialisation, especially PID filters 2016-11-25 23:22:23 +00:00
borisbstyle
af8453c224 Fix Filter Init Loop 2016-11-26 00:08:18 +01:00
Martin Budden
032d9354ed Use function pointers to tidy PID filter handling 2016-11-25 12:35:33 +00:00
Martin Budden
ac6b83ad7d Replaced getdT() by static dT 2016-11-20 09:48:24 +00:00
Martin Budden
695f47944b Tidy PID controller 2016-11-20 09:20:53 +00:00
Martin Budden
58c85029d6 Removed unnecessary #includes 2016-10-26 05:15:26 +01:00
Martin Budden
01be3842c8 Added filter unit test and tidied filter code 2016-10-23 10:10:14 +01:00
borisbstyle
706897c187 Convert mixer to float math 2016-10-20 09:05:52 +02:00
borisbstyle
5e3c974d64 Remove Legacy Pid Controller 2016-10-18 16:49:16 +02:00
borisbstyle
0e827b331d New Beebrain defaults // refactoring 2016-10-13 01:50:34 +02:00
borisbstyle
aaafd4f661 Merge branch 'master' into development 2016-10-12 10:15:13 +02:00
borisbstyle
fa6748b49a Fix merge issues // Free some space on NAZE and CC3D 2016-10-09 01:11:20 +02:00
borisbstyle
70cca63875 Cleanup // Fix some filter inits // More space Naze target 2016-10-09 00:47:50 +02:00
borisbstyle
505502e798 Cleanup // Fix some filter inits // More space Naze target 2016-10-09 00:45:37 +02:00
borisbstyle
81623d4ac7 Merge branch 'master' into development 2016-10-08 02:00:08 +02:00
borisbstyle
b168b33448 Cleanup Denoise Code 2016-10-08 01:49:26 +02:00
borisbstyle
8dd8e3969f Add PIDsum limit 2016-10-08 01:14:17 +02:00
borisbstyle
bd2ded600c Merge branch 'master' into development 2016-10-07 02:44:21 +02:00
borisbstyle
fc480fab5b Default adjustments // Cleanups 2016-10-07 02:24:22 +02:00
borisbstyle
09d16bd0cb Merge branch 'master' into development 2016-10-07 01:41:55 +02:00
borisbstyle
989af08c10 Lower PID limit 2016-10-04 00:50:04 +02:00
borisbstyle
73e952ce16 Move PID relaxation to only D 2016-10-02 00:58:33 +02:00
borisbstyle
cb16d65532 Fix level mode in betaflight PID controller 2016-09-10 23:30:03 +02:00
borisbstyle
13b189b4ff Cleanup 2016-09-09 00:26:52 +02:00
borisbstyle
0d1cc8f448 Reimplementation of P setpoint weight. Applied to S rates now for nicer feel 2016-09-08 21:36:43 +02:00
borisbstyle
e6a11960fd Equal pid.c optimalisation to betaflight pid 2016-08-23 01:06:19 +02:00
Gamma-Software
0f1b00520f Little optimisation PID.c 
Hi,
I know, it's not a huge optimisation but I just switched the condition of the IF condition (line 425). Given that the YAW axis occur one time in the FOR loop (line 366), the IF(axis == YAW) condition will be called one time whereas the IF(axis != YAW) condition will be called two times.

Check first the most used condition in an IF condition is a good thing to do in a code source.

I just don't know if it will be a major improvement, I let you judge.
 2016-08-22 16:33:23 +02:00
borisbstyle
138ade7939 Improve dterm filter accuracy // magic number 2016-08-21 00:19:51 +02:00
borisbstyle
4e2ff7e7e9 Improve dterm filter accuracy // magic number 2016-08-21 00:13:14 +02:00
borisbstyle
8140959f2d Fix incorrect coefficient when pid_denom > 1 is used 2016-08-11 20:09:20 +02:00