/* * This file is part of Cleanflight. * * Cleanflight is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * Cleanflight is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with Cleanflight. If not, see . */ #include #include #include #include #include "build/build_config.h" #include "build/debug.h" #include "common/axis.h" #include "common/maths.h" #include "common/filter.h" #include "fc/fc_core.h" #include "fc/fc_rc.h" #include "fc/rc_controls.h" #include "fc/runtime_config.h" #include "flight/pid.h" #include "flight/imu.h" #include "flight/mixer.h" #include "flight/navigation.h" #include "sensors/gyro.h" #include "sensors/acceleration.h" uint32_t targetPidLooptime; static bool pidStabilisationEnabled; float axisPIDf[3]; #ifdef BLACKBOX int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3]; #endif static float previousGyroIf[3]; static float dT; void pidSetTargetLooptime(uint32_t pidLooptime) { targetPidLooptime = pidLooptime; dT = (float)targetPidLooptime * 0.000001f; } void pidResetErrorGyroState(void) { for (int axis = 0; axis < 3; axis++) { previousGyroIf[axis] = 0.0f; } } static float itermAccelerator = 1.0f; void pidSetItermAccelerator(float newItermAccelerator) { itermAccelerator = newItermAccelerator; } void pidStabilisationState(pidStabilisationState_e pidControllerState) { pidStabilisationEnabled = (pidControllerState == PID_STABILISATION_ON) ? true : false; } const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH }; static filterApplyFnPtr dtermNotchFilterApplyFn; static void *dtermFilterNotch[2]; static filterApplyFnPtr dtermLpfApplyFn; static void *dtermFilterLpf[2]; static filterApplyFnPtr ptermYawFilterApplyFn; static void *ptermYawFilter; void pidInitFilters(const pidProfile_t *pidProfile) { static biquadFilter_t biquadFilterNotch[2]; static pt1Filter_t pt1Filter[2]; static biquadFilter_t biquadFilter[2]; static firFilterDenoise_t denoisingFilter[2]; static pt1Filter_t pt1FilterYaw; BUILD_BUG_ON(FD_YAW != 2); // only setting up Dterm filters on roll and pitch axes, so ensure yaw axis is 2 if (pidProfile->dterm_notch_hz == 0) { dtermNotchFilterApplyFn = nullFilterApply; } else { dtermNotchFilterApplyFn = (filterApplyFnPtr)biquadFilterApply; const float notchQ = filterGetNotchQ(pidProfile->dterm_notch_hz, pidProfile->dterm_notch_cutoff); for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) { dtermFilterNotch[axis] = &biquadFilterNotch[axis]; biquadFilterInit(dtermFilterNotch[axis], pidProfile->dterm_notch_hz, targetPidLooptime, notchQ, FILTER_NOTCH); } } if (pidProfile->dterm_lpf_hz == 0) { dtermLpfApplyFn = nullFilterApply; } else { switch (pidProfile->dterm_filter_type) { default: dtermLpfApplyFn = nullFilterApply; break; case FILTER_PT1: dtermLpfApplyFn = (filterApplyFnPtr)pt1FilterApply; for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) { dtermFilterLpf[axis] = &pt1Filter[axis]; pt1FilterInit(dtermFilterLpf[axis], pidProfile->dterm_lpf_hz, dT); } break; case FILTER_BIQUAD: dtermLpfApplyFn = (filterApplyFnPtr)biquadFilterApply; for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) { dtermFilterLpf[axis] = &biquadFilter[axis]; biquadFilterInitLPF(dtermFilterLpf[axis], pidProfile->dterm_lpf_hz, targetPidLooptime); } break; case FILTER_FIR: dtermLpfApplyFn = (filterApplyFnPtr)firFilterDenoiseUpdate; for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) { dtermFilterLpf[axis] = &denoisingFilter[axis]; firFilterDenoiseInit(dtermFilterLpf[axis], pidProfile->dterm_lpf_hz, targetPidLooptime); } break; } } if (pidProfile->yaw_lpf_hz == 0) { ptermYawFilterApplyFn = nullFilterApply; } else { ptermYawFilterApplyFn = (filterApplyFnPtr)pt1FilterApply; ptermYawFilter = &pt1FilterYaw; pt1FilterInit(ptermYawFilter, pidProfile->yaw_lpf_hz, dT); } } static float Kp[3], Ki[3], Kd[3], c[3], maxVelocity[3], relaxFactor[3]; static float levelGain, horizonGain, horizonTransition, ITermWindupPoint, ITermWindupPointInv, itermAcceleratorRateLimit; void pidInitConfig(const pidProfile_t *pidProfile) { for(int axis = FD_ROLL; axis <= FD_YAW; axis++) { Kp[axis] = PTERM_SCALE * pidProfile->P8[axis]; Ki[axis] = ITERM_SCALE * pidProfile->I8[axis]; Kd[axis] = DTERM_SCALE * pidProfile->D8[axis]; c[axis] = pidProfile->dtermSetpointWeight / 100.0f; relaxFactor[axis] = 1.0f / (pidProfile->setpointRelaxRatio / 100.0f); } levelGain = pidProfile->P8[PIDLEVEL] / 10.0f; horizonGain = pidProfile->I8[PIDLEVEL] / 10.0f; horizonTransition = 100.0f / pidProfile->D8[PIDLEVEL]; maxVelocity[FD_ROLL] = maxVelocity[FD_PITCH] = pidProfile->rateAccelLimit * 1000 * dT; maxVelocity[FD_YAW] = pidProfile->yawRateAccelLimit * 1000 * dT; ITermWindupPoint = (float)pidProfile->itermWindupPointPercent / 100.0f; ITermWindupPointInv = 1.0f / (1.0f - ITermWindupPoint); itermAcceleratorRateLimit = (float)pidProfile->itermAcceleratorRateLimit; } static float calcHorizonLevelStrength(void) { float horizonLevelStrength = 0.0f; if (horizonTransition > 0.0f) { const float mostDeflectedPos = MAX(getRcDeflectionAbs(FD_ROLL), getRcDeflectionAbs(FD_PITCH)); // Progressively turn off the horizon self level strength as the stick is banged over horizonLevelStrength = constrainf(1 - mostDeflectedPos * horizonTransition, 0, 1); } return horizonLevelStrength; } static float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint) { // calculate error angle and limit the angle to the max inclination float errorAngle = pidProfile->levelSensitivity * getRcDeflection(axis); #ifdef GPS errorAngle += GPS_angle[axis]; #endif errorAngle = constrainf(errorAngle, -pidProfile->levelAngleLimit, pidProfile->levelAngleLimit); errorAngle = (errorAngle - ((attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f)); if(FLIGHT_MODE(ANGLE_MODE)) { // ANGLE mode - control is angle based, so control loop is needed currentPidSetpoint = errorAngle * levelGain; } else { // HORIZON mode - direct sticks control is applied to rate PID // mix up angle error to desired AngleRate to add a little auto-level feel const float horizonLevelStrength = calcHorizonLevelStrength(); currentPidSetpoint = currentPidSetpoint + (errorAngle * horizonGain * horizonLevelStrength); } return currentPidSetpoint; } static float accelerationLimit(int axis, float currentPidSetpoint) { static float previousSetpoint[3]; const float currentVelocity = currentPidSetpoint- previousSetpoint[axis]; if(ABS(currentVelocity) > maxVelocity[axis]) currentPidSetpoint = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity[axis] : previousSetpoint[axis] - maxVelocity[axis]; previousSetpoint[axis] = currentPidSetpoint; return currentPidSetpoint; } // Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage. // Based on 2DOF reference design (matlab) void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim) { static float previousRateError[2]; const float tpaFactor = getThrottlePIDAttenuation(); const float motorMixRange = getMotorMixRange(); // Dynamic ki component to gradually scale back integration when above windup point const float dynKi = MIN((1.0f - motorMixRange) * ITermWindupPointInv, 1.0f); // ----------PID controller---------- for (int axis = FD_ROLL; axis <= FD_YAW; axis++) { float currentPidSetpoint = getSetpointRate(axis); if(maxVelocity[axis]) currentPidSetpoint = accelerationLimit(axis, currentPidSetpoint); // Yaw control is GYRO based, direct sticks control is applied to rate PID if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) { currentPidSetpoint = pidLevel(axis, pidProfile, angleTrim, currentPidSetpoint); } const float gyroRate = gyro.gyroADCf[axis]; // Process variable from gyro output in deg/sec // --------low-level gyro-based PID based on 2DOF PID controller. ---------- // ---------- 2-DOF PID controller with optional filter on derivative term. b = 1 and only c can be tuned (amount derivative on measurement or error). ---------- // -----calculate error rate const float errorRate = currentPidSetpoint - gyroRate; // r - y // -----calculate P component and add Dynamic Part based on stick input float PTerm = Kp[axis] * errorRate * tpaFactor; if (axis == FD_YAW) { PTerm = ptermYawFilterApplyFn(ptermYawFilter, PTerm); } // -----calculate I component float ITerm = previousGyroIf[axis]; if (motorMixRange < 1.0f) { // Only increase ITerm if motor output is not saturated float ITermDelta = Ki[axis] * errorRate * dT * dynKi; if (ABS(currentPidSetpoint) < itermAcceleratorRateLimit) { // ITerm will only be accelerated below steady rate threshold ITermDelta *= itermAccelerator; } ITerm += ITermDelta; previousGyroIf[axis] = ITerm; } // -----calculate D component (Yaw D not yet supported) float DTerm = 0.0; if (axis != FD_YAW) { float dynC = c[axis]; if (pidProfile->setpointRelaxRatio < 100) { dynC *= MIN(getRcDeflectionAbs(axis) * relaxFactor[axis], 1.0f); } const float rD = dynC * currentPidSetpoint - gyroRate; // cr - y // Divide rate change by dT to get differential (ie dr/dt) const float delta = (rD - previousRateError[axis]) / dT; previousRateError[axis] = rD; DTerm = Kd[axis] * delta * tpaFactor; DEBUG_SET(DEBUG_DTERM_FILTER, axis, DTerm); // apply filters DTerm = dtermNotchFilterApplyFn(dtermFilterNotch[axis], DTerm); DTerm = dtermLpfApplyFn(dtermFilterLpf[axis], DTerm); } // -----calculate total PID output axisPIDf[axis] = PTerm + ITerm + DTerm; // Disable PID control at zero throttle if (!pidStabilisationEnabled) axisPIDf[axis] = 0; #ifdef BLACKBOX axisPID_P[axis] = PTerm; axisPID_I[axis] = ITerm; axisPID_D[axis] = DTerm; #endif } }