282 commits

Author	SHA1	Message	Date
Martin Budden	9e4de2ea3b	Added separate yaw pidsum limit	2017-03-07 11:25:21 +00:00
borisbstyle	b9c2913c09	Merge pull request #2547 from ethomas999/angleTrimSignFix ... Fixed sign of angleTrim value in pid.c	2017-03-07 00:21:29 +01:00
Martin Budden	aa561d542b	Updates to support parameter groups	2017-03-06 13:48:14 +00:00
ethomas999	cefe9affd3	Fixed sign of angleTrim value	2017-03-04 00:44:33 -05:00
Martin Budden	9b62a4e38f	Added PG config definitions 10	2017-02-28 06:28:06 +00:00
Martin Budden	7ae57eb8cf	Added PG config definitions 8	2017-02-27 07:25:48 +00:00
Martin Budden	c92679f454	Added PG config definitions 4	2017-02-25 18:19:56 +00:00
borisbstyle	de3d1d527d	Merge branch 'master' into patch_v3.1.6	2017-02-20 14:40:43 +01:00
borisbstyle	84105629ea	Fix filter bug for trying filter over nyquist	2017-02-20 01:52:15 +01:00
borisbstyle	0b73e613c0	Remove experimental square in relax calc	2017-02-19 00:13:44 +01:00
borisbstyle	ff1f9ce770	Scale down dtermSetpointWeight	2017-02-16 01:44:27 +01:00
borisbstyle	a135e9cbb2	Soften the lower setpoint transition	2017-02-14 22:44:10 +01:00
borisbstyle	ecb104b1f1	Merge branch 'master' into patch_v3.1.4	2017-02-07 13:47:12 +01:00
borisbstyle	89527df273	Simplify anti gravity	2017-02-07 10:26:21 +01:00
borisbstyle	be74098162	Merge tag 'v3.1.3'	2017-02-02 14:18:48 +01:00
Martin Budden	2406e0744a	Minor improvement to efficiency of PID calculation	2017-02-02 13:59:17 +01:00
Martin Budden	080f9b7923	Fix to calculation of ITerm anti-windup	2017-02-02 13:59:11 +01:00
Martin Budden	79d4b2146d	Preparation for conversion to parameter groups	2017-02-01 08:46:19 +00:00
borisbstyle	a112c1d7d0	Separate fc_core.c from RC processing	2017-01-30 23:46:04 +01:00
borisbstyle	7bfd2b5d1c	Get rid of unneeded constrain	2017-01-30 16:09:58 +01:00
borisbstyle	638ed22fa8	Minor pid init precalculation optimalisations // Simplify dynC	2017-01-30 15:02:12 +01:00
borisbstyle	cf04294f70	Prevent ItermAccel and windup to clash with each other	2017-01-30 15:02:10 +01:00
borisbstyle	ff8be19b8f	Optimise / fix new transition calculations // Dont use accelerator during anti windup	2017-01-30 15:01:49 +01:00
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