borisbstyle
4cbff888df
D scaling adjusted to match normal Cleanflight
2015-10-08 16:34:11 +02:00
borisbstyle
12c9f65f43
Merge branch 'master' into betaflight
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Conflicts:
Makefile
docs/Cli.md
src/main/config/config.c
src/main/drivers/accgyro_mpu3050.c
src/main/drivers/accgyro_mpu6050.c
src/main/drivers/accgyro_mpu6050.h
src/main/drivers/accgyro_spi_mpu6000.c
src/main/drivers/accgyro_spi_mpu6000.h
src/main/drivers/accgyro_spi_mpu6500.c
src/main/drivers/accgyro_spi_mpu6500.h
src/main/drivers/barometer_bmp280.c
src/main/drivers/sensor.h
src/main/flight/pid.c
src/main/mw.c
src/main/rx/rx.c
src/main/sensors/initialisation.c
src/main/target/CC3D/target.h
2015-10-07 17:12:54 +02:00
Dominic Clifton
123a4ccfc5
Merge branch 'GTune' of https://github.com/MJ666/cleanflight into
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MJ666-Harakiri_PID_update
Conflicts:
Makefile
src/main/blackbox/blackbox_fielddefs.h
src/main/flight/pid.c
src/main/io/serial_msp.c
src/main/mw.c
src/main/target/ALIENWIIF3/target.h
src/main/target/CC3D/target.h
src/main/target/NAZE/target.h
src/main/target/NAZE32PRO/target.h
src/main/target/SPARKY/target.h
2015-10-06 20:16:37 +01:00
Dominic Clifton
d36da111b2
Delete autotune.
2015-10-06 19:38:02 +01:00
Michael Jakob
fe2f2f3053
Fix some BlackBox isues, remove redundant code from PID controllers.
2015-10-04 18:37:20 +02:00
Michael Jakob
e7e297ad53
Modified behavior of G-Tune switch and storing the tuned P values
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G-Tune documentation update
G-Tune will only activated and deactivated when armed.
G-Tune should deactivated while the copter is airborne.
Tuned P values will only be stored when G-Tune is enabled while disarmed
and G-Tune was used before.
2015-10-04 18:37:19 +02:00
Michael Jakob
43f5792a61
G-Tune port from Harakiri
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Enabled for NAZE, ALIENWWIIF1 and ALIENWIIF3 targets
Implement G-Tune for all PID controllers
The G-Tune tuning results will be save if G-Tune mode will be disabled
during copter is disarmed.
Update PID controller and G-Tune documentation
2015-10-04 18:37:18 +02:00
Michael Jakob
b20dc77a74
Harakiri PID controller make hardcoded parameters configurable
2015-10-04 18:37:17 +02:00
borisbstyle
af6f9de903
Jitter enhancements
2015-09-21 00:19:08 +02:00
borisbstyle
d8e62d0508
Remove multiplier by 3 from delta. (Better for defaults)
2015-09-21 00:19:07 +02:00
borisbstyle
0539abc649
Dterm scaling correction // Code cleanup
2015-09-21 00:19:06 +02:00
borisbstyle
85855425a8
yawPTermState filter
2015-09-19 14:41:21 +02:00
borisbstyle
e17554c29f
Remove delta all pid controllers
2015-09-19 14:29:14 +02:00
borisbstyle
0501e5ff91
Code Cleanup
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More code cleanup and BUMP EEPROM
Code Cleanup
Fix loop trigger
2015-09-19 01:37:48 +02:00
borisbstyle
49bc46bc37
Static FIR filter
2015-09-19 00:43:50 +02:00
borisbstyle
7a2762dbf6
Delta PID1
2015-09-19 00:39:24 +02:00
Stephen Willey
266ed02a81
Substitute pt1 filter of gyroADC for 7 Tap FIR filter
2015-09-18 15:23:09 -07:00
borisbstyle
77effd3b71
Luxfloat Level Mode (rcCommand scaled to max_angle_inclination)
2015-09-02 00:31:00 +02:00
borisbstyle
bb12ad8646
Yaw pterm_cut_hz (derived from pterm_cut_hz)
2015-09-02 00:30:57 +02:00
borisbstyle
07b9aceb7c
Luxfloat Optimisation and new defaults
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Remove constraining of delta
Yaw D default to 10
Default change and rebase with master
2015-09-02 00:30:38 +02:00
borisbstyle
d282ec3483
Remove TPA from Iterm PID1
2015-09-02 00:30:37 +02:00
borisbstyle
fdcfe71b73
Improve soft filtering function for reuse
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Reorder serial.c *_cut_hz parameters
Remove unnecessary dT calculation in luxfloat
Restructured filter
filter.h fix
Luxfloat remove internal dT
Void function for gyro fillter
2015-09-02 00:30:35 +02:00
borisbstyle
a534868408
Luxfloat Optimisation and new defaults
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Remove constraining of delta
Yaw D default to 10
Default change and rebase with master
2015-09-01 23:43:09 +02:00
Scott Shawcroft
e67a1435cd
Correct rate comment
2015-07-09 12:13:03 -07:00
borisbstyle
10f2d35759
Soft Filtering (Gyro, Dterm, Pterm)
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pterm_cut_hz added
Let's play with this as well to get more noise filtered
Code Cleanup
Make filter more flexible for reuse
rewrite correction pterm
Define static delta in filter
Fix array count
ident
return function for filter
Filter Function enhanced
Full software filtering (DTerm, PTerm, Gyro, Acc)
Normalize Variables
Revert Back gyro settings
Bugfix gyro/acc filter // (MPU60xx equalize lpf settings)
Moved filtering to mw.c
This has been done to prevent reusing old cycletime for filter function.
acc_cut_hz removed (not needed)
Harakiri zero fix
2015-06-27 14:13:10 +02:00
Dominic Clifton
a7532c6012
Merge pull request #942 from nzmichaelh/tidy
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various: improve readability by using enums and ARRAYLEN()
2015-06-25 02:44:55 +01:00
Dominic Clifton
41d737e29a
Merge pull request #869 from SteveAmor/remove_tricopter_yaw_gyro_smoothing
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Remove tricopter yaw gyro smoothing from imuUpdate
2015-05-29 15:39:02 +01:00
Michael Hope
14869d0a99
various: use enums to make the code easier to read.
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Signed-off-by: Michael Hope <mlhx@google.com>
2015-05-23 05:21:48 +02:00
Michael Jakob
42218f1ea5
The yaw_p_limit minimum is now set to 100 to prevent misconfigurations.
...
Maximum value of 500 is now removing the limit (same as for
yaw_jump_prevention_limit)
Moving defines for PID controllers to headerfiles.
Some general code cleanup.
Documentation update
2015-05-19 17:42:03 +02:00
Dominic Clifton
85acf7dc1d
Merge pull request #895 from borisbstyle/pid1-horizon
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Fix for extreme D level term PID1 Horizon
2015-05-17 21:32:50 +01:00
Steveis
6448b4b3d7
Replaced gyroData with gyroADC as they both contain the same value
2015-05-17 07:14:42 +01:00
borisbstyle
984eada98b
PID1 Horizon sensitivity range increased
2015-05-15 15:28:03 +02:00
borisbstyle
4bdc64bff9
Fix for extreme D level term PID1 Horizon
2015-05-15 02:16:46 +02:00
Dominic Clifton
cf4a552b94
Merge pull request #891 from borisbstyle/pid1-horizon
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PID1 Horizon Mode Fixed
2015-05-14 19:31:45 +01:00
borisbstyle
3c1b678a37
Fix truncation in horizonstrength calculation
2015-05-14 20:00:35 +02:00
borisbstyle
0b274cc6e8
PID1 Horizon Improved
2015-05-14 00:54:41 +02:00
borisbstyle
4ec28b8cce
Removed TPA from Yaw axis and Changed variable name
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PIDscaler changed to PIDweight as it suits better and is more
understandable as it is percentage of the PID's used.
Yaw TPA is removed as I don't find it necessary after more testing
2015-05-11 09:18:05 +02:00
borisbstyle
174cf545b1
Simplify errorGyroIf[axis] formula
2015-05-09 12:31:03 +02:00
borisbstyle
5dee66fee9
More commented
2015-05-09 02:08:52 +02:00
borisbstyle
d6cb6a34e7
Added comment
2015-05-09 02:05:44 +02:00
borisbstyle
573146788b
PID1 and PID2 TPA Implementation
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PIDscaler is used to scale down the pids conforming TPA calculation
2015-05-09 00:52:18 +02:00
borisbstyle
7f69537f86
PID1 TPA Implementation
2015-05-08 15:20:53 +02:00
Michael Jakob
2fd79a7aa2
This fix is for avoiding yaw overshoot and bounce back for some
...
configurations
The hardcoded limit in the mixer and PID controllers 3-5 would be
removed
by default and will be configurable by CLI variables:
yaw_jump_prevention_limit, global setting (original fixed value was 100)
yaw_p_limit, per profile setting (fixed value was 300)
2015-04-23 17:30:20 +02:00
Ben Hitchcock
9e842704c5
^ Multiplying I term by ten to make it tuneable
2015-03-24 22:54:49 +08:00
Dominic Clifton
bc8e53a9d8
Rename some PID controller methods.
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See #461 .
2015-03-09 23:26:52 +00:00
Dominic Clifton
b595b49ca8
Decouple roll and pitch rates. MSP clients take note of updated
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MSP_RC_TUNING/MSP_SET_RC_TUNING commands.
2015-03-07 15:11:20 +00:00
Michael Jakob
a4e074816d
Harakiri PID controller fix
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integer constrain function is limiting accuracy in Angel and Horizon
mode ITerm value
2015-02-21 14:51:53 +01:00
Michael Jakob
257c7e092e
Harakiri PID controller variables cleanup
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Flight tested
2015-02-19 21:28:26 +01:00
Michael Jakob
cd94377651
Latest Crashpilot1000 update
2015-02-19 09:00:20 +01:00
Michael Jakob
6548c90ca8
Align Harakiri PID with Crashpilot1000 updates
2015-02-19 08:30:41 +01:00
