mirror of
https://github.com/betaflight/betaflight.git
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113 lines
4.5 KiB
C
113 lines
4.5 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <stdbool.h>
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#define MAX_PID_PROCESS_DENOM 16
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#define PID_CONTROLLER_BETAFLIGHT 1
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#define PID_MIXER_SCALING 1000.0f
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#define PID_SERVO_MIXER_SCALING 0.7f
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#define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter
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#define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter
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#define PIDSUM_LIMIT 0.5f
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// Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float
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#define PTERM_SCALE 0.032029f
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#define ITERM_SCALE 0.244381f
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#define DTERM_SCALE 0.000529f
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typedef enum {
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PIDROLL,
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PIDPITCH,
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PIDYAW,
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PIDALT,
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PIDPOS,
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PIDPOSR,
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PIDNAVR,
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PIDLEVEL,
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PIDMAG,
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PIDVEL,
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PID_ITEM_COUNT
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} pidIndex_e;
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typedef enum {
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SUPEREXPO_YAW_OFF = 0,
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SUPEREXPO_YAW_ON,
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SUPEREXPO_YAW_ALWAYS
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} pidSuperExpoYaw_e;
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typedef enum {
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PID_STABILISATION_OFF = 0,
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PID_STABILISATION_ON
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} pidStabilisationState_e;
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typedef struct pidProfile_s {
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uint8_t P8[PID_ITEM_COUNT];
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uint8_t I8[PID_ITEM_COUNT];
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uint8_t D8[PID_ITEM_COUNT];
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uint8_t dterm_filter_type; // Filter selection for dterm
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uint16_t dterm_lpf_hz; // Delta Filter in hz
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uint16_t yaw_lpf_hz; // Additional yaw filter when yaw axis too noisy
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uint16_t dterm_notch_hz; // Biquad dterm notch hz
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uint16_t dterm_notch_cutoff; // Biquad dterm notch low cutoff
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uint8_t itermWindupPointPercent; // Experimental ITerm windup threshold, percent motor saturation
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uint16_t yaw_p_limit;
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float pidSumLimit;
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uint8_t dterm_average_count; // Configurable delta count for dterm
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uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage
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uint8_t pidAtMinThrottle; // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
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uint8_t levelAngleLimit; // Max angle in degrees in level mode
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uint8_t levelSensitivity; // Angle mode sensitivity reflected in degrees assuming user using full stick
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// Betaflight PID controller parameters
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uint16_t itermThrottleThreshold; // max allowed throttle delta before iterm accelerated in ms
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float itermAcceleratorGain; // Iterm Accelerator Gain when itermThrottlethreshold is hit
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uint8_t setpointRelaxRatio; // Setpoint weight relaxation effect
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uint8_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
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float yawRateAccelLimit; // yaw accel limiter for deg/sec/ms
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float rateAccelLimit; // accel limiter roll/pitch deg/sec/ms
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} pidProfile_t;
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PG_DECLARE_PROFILE(pidProfile_t, pidProfile);
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typedef struct pidConfig_s {
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uint8_t pid_process_denom; // Processing denominator for PID controller vs gyro sampling rate
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} pidConfig_t;
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PG_DECLARE(pidConfig_t, pidConfig);
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union rollAndPitchTrims_u;
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void pidController(const pidProfile_t *pidProfile, const union rollAndPitchTrims_u *angleTrim);
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extern float axisPIDf[3];
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extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
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bool airmodeWasActivated;
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extern uint32_t targetPidLooptime;
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// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
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extern uint8_t PIDweight[3];
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void pidResetErrorGyroState(void);
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void pidStabilisationState(pidStabilisationState_e pidControllerState);
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void pidSetTargetLooptime(uint32_t pidLooptime);
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void pidSetItermAccelerator(float newItermAccelerator);
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void pidInitFilters(const pidProfile_t *pidProfile);
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void pidInitConfig(const pidProfile_t *pidProfile);
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