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39 lines
No EOL
1.2 KiB
Markdown
39 lines
No EOL
1.2 KiB
Markdown
### IO variables
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gyroData/8192*2000 = deg/s
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gyroData/4 ~ deg/s
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rcCommand - -500-500 nominal, but is scaled with rcRate/100, max +-1250
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inclination - in 0.1 degree, default 50 degrees (500 units)
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axisPID - output to mixer, will be added to throttle(1000-2000), output range is <minthrottle, maxthrottle> (default <1150 - 1850>)
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### PID controller 0, "MultiWii" (default)
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## Leveling term
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error = constrain(2*rcCommand[axis], limit +- max_angle_inclination) - inclination[axis]
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P = constrain(P8[PIDLEVEL]/100 * error, limit +- D8[PIDLEVEL] * 5)
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I = intergrate(error, limit +-10000) * I8[PIDLEVEL] / 4096
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## Gyro term
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P = rcCommand[axis];
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error = rcCommand[axis] * 10 * 8 / pidProfile->P8[axis] - gyroData[axis] / 4; (conversion so that error is in deg/s ?)
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I = integrate(error, limit +-16000) / 10 / 8 * I8[axis] / 100 (conversion back to mixer units ?)
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reset I term if
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- axis rotation rate > +-64deg/s
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- axis is YAW and rcCommand>+-100
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## Mode dependent mix(yaw is always from gyro)
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HORIZON - proportionally according to max deflection
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Gyro - gyro term
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Angle - leveling term
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## Gyro stabilization
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P = -gyroData[axis] / 4 * dynP8 / 10 / 8
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D = -mean(diff(gyroData[axis] / 4), 3) * 3 * dynP8 / 32 |