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5244 commits 10 branches 287 tags 503 MiB
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214 commits

Author SHA1 Message Date
borisbstyle
fc480fab5b Default adjustments // Cleanups 2016-10-07 02:24:22 +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
4e2ff7e7e9 Improve dterm filter accuracy // magic number 2016-08-21 00:13:14 +02:00
borisbstyle
08776bc309 Fix incorrect coefficient when pid_denom > 1 is used 2016-08-11 20:07:55 +02:00
borisbstyle
98eb820cdb defaults 2016-08-09 23:34:12 +02:00
borisbstyle
4ff2802095 Fix CPU bug due toe reinitialising of filters 2016-08-09 16:18:06 +02:00
borisbstyle
81c06ace92 Refactor rate limit 2016-08-05 14:18:31 +02:00
borisbstyle
38e812a5a5 Add roll pitch velocity 2016-08-05 00:55:12 +02:00
borisbstyle
06be182e50 Add yaw smoothing back // adjust defaults // KISS fc remove some shared timers 2016-08-05 00:02:38 +02:00
borisbstyle
b4e61d49c9 More efficiency in PID code // add yaw velocity to setpoint 2016-08-04 01:22:38 +02:00
rav
0e905e01d3 set lower filter cutoff instead of Q 
fix error in gyro pt1 filter
 2016-08-04 00:09:22 +02:00
borisbstyle
cc7ea13e66 Convert Notch Q to BW 2016-08-03 20:56:37 +02:00
borisbstyle
771feb8fde Add more filter freedom 2016-08-03 11:51:12 +02:00
blckmn
df11d398aa Warning removal where present if pidBetaflight is skipped. 2016-07-31 11:06:29 +10:00
borisbstyle
c11c50287e Finalisation of Betaflight PID controller // RC smoothing added back 2016-07-28 00:54:40 +02:00
Martin Budden
d9733b8206 Various measures to save ROM 2016-07-25 08:56:28 +01:00
borisbstyle
f61ec9af0a rcCommandSmooth for level mode 2016-07-20 01:31:32 +02:00
borisbstyle
52e302e51e Fix Horizon / Angle in betaflight pidc 2016-07-20 01:11:25 +02:00
borisbstyle
0ae5d9734e Add option to fully disable PID controller on zero throttle 2016-07-18 02:23:14 +02:00
borisbstyle
37fd2e5adc Initial PID controller separation // Betaflight pidc for future development 2016-07-18 01:34:07 +02:00
borisbstyle
2d6e0da773 Minor cleanup 
Fix for integer PIDC
 2016-07-17 21:16:00 +02:00
borisbstyle
221f617799 Fix for missing I gain (float) 2016-07-17 21:10:00 +02:00
borisbstyle
19a814afbb Seperate float and int accumulation logic 2016-07-17 03:16:04 +02:00
borisbstyle
6582a958aa PID float scaling in deg/sec 
fix
 2016-07-17 01:48:46 +02:00
Martin Budden
141b369667 Removed trailing whitespace 2016-07-16 07:54:58 +01:00
Martin Budden
74d20a276f Made filter naming, parameters and state consistent 2016-07-03 06:45:11 +01:00
Martin Budden
4d238b27d5 Moved targetLooptime into gyro_t, tidied gyro_sync and gyro 2016-06-26 16:15:06 +01:00
blckmn
2ed6ee1e39 FIX: AngleRateSmooth array to small to hold YAW axis 2016-06-23 20:36:09 +10:00
blckmn
86459a77ed Warning fixes 2016-06-23 20:25:31 +10:00
borisbstyle
4c59769b02 Add delta from measurement // rc smooth interval // More MSP 2016-06-23 01:53:51 +02:00
borisbstyle
9782fb1555 Apply PID reduction to only Iterm. (RC1 behaviour) 2016-06-19 15:21:26 +02:00
borisbstyle
d214f8602d Smoothed Derivative from Error // Fix Iterm accumulation issues // Defaultss 
Saturation rework
 2016-06-18 00:37:01 +02:00
Gary Keeble
db5184d603 Add rcYawRate into Blackbox header and Calculate Rate Function 
Add the new Yaw Rate parameter into the log header
 2016-06-03 15:18:54 +01:00
borisbstyle
a74acccb84 Add rc_rate_yaw // SuperExpo feature renamed to SUPEREXPO_RATES 2016-06-02 19:41:04 +02:00
borisbstyle
6c8a8614fc Rate limiter 2016-06-02 11:06:03 +02:00
borisbstyle
bb880e68d3 Cleanup Modes 2016-06-01 22:44:56 +02:00
borisbstyle
c45475b8af Fix broken Level Modes 2016-06-01 22:09:22 +02:00
borisbstyle
a3c1f6e168 Add Back Iterm limit for saturation scenarios 2016-06-01 20:59:11 +02:00
borisbstyle
090c05b7b8 Fix Dterm In blackbox 2016-06-01 18:21:49 +02:00
borisbstyle
d4c22f1c28 Rework Super Expo Rate Implementation // On the fly Rc Expo 2016-06-01 09:30:52 +02:00
borisbstyle
39763abe0b Remove RC Rate influence on superExpo curve 2016-05-31 13:13:30 +02:00
borisbstyle
3470181a0f Add feature for SuperExpo and Airmode // Super Expo by default activated 2016-05-30 20:42:43 +02:00
borisbstyle
23b0e79eff Smoother Iterm Ignore transition 2016-05-30 19:47:53 +02:00
borisbstyle
754982f480 Add higher power function to Super Expo 2016-05-30 13:02:41 +02:00