mirror of
https://github.com/betaflight/betaflight.git
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100 lines
3.6 KiB
C
100 lines
3.6 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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#include "rx/rx.h"
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#pragma once
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#define GYRO_I_MAX 256 // Gyro I limiter
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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 YAW_JUMP_PREVENTION_LIMIT_LOW 80
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#define YAW_JUMP_PREVENTION_LIMIT_HIGH 400
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#define DYNAMIC_PTERM_STICK_THRESHOLD 400
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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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PID_CONTROLLER_MWREWRITE = 1,
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PID_CONTROLLER_LUX_FLOAT,
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PID_COUNT
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} pidControllerType_e;
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typedef enum {
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DELTA_FROM_ERROR = 0,
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DELTA_FROM_MEASUREMENT
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} pidDeltaType_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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#define IS_PID_CONTROLLER_FP_BASED(pidController) (pidController == 2)
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typedef struct pidProfile_s {
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uint8_t pidController; // 1 = rewrite from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671, 2 = Luggi09s new baseflight pid
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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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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 rollPitchItermIgnoreRate; // Experimental threshold for resetting iterm for pitch and roll on certain rates
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uint16_t yawItermIgnoreRate; // Experimental threshold for resetting iterm for yaw on certain rates
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uint16_t yaw_p_limit;
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uint8_t dterm_average_count; // Configurable delta count for dterm
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uint8_t dynamic_pid; // Dynamic PID implementation (currently only P and I)
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#ifdef GTUNE
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uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune
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uint8_t gtune_hilimP[3]; // [0..200] Higher limit of P during G tune. 0 Disables tuning for that axis.
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uint8_t gtune_pwr; // [0..10] Strength of adjustment
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uint16_t gtune_settle_time; // [200..1000] Settle time in ms
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uint8_t gtune_average_cycles; // [8..128] Number of looptime cycles used for gyro average calculation
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#endif
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} pidProfile_t;
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struct controlRateConfig_s;
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union rollAndPitchTrims_u;
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struct rxConfig_s;
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typedef void (*pidControllerFuncPtr)(const pidProfile_t *pidProfile, const struct controlRateConfig_s *controlRateConfig,
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uint16_t max_angle_inclination, const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig); // pid controller function prototype
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extern int16_t axisPID[XYZ_AXIS_COUNT];
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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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void pidSetController(pidControllerType_e type);
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void pidResetErrorGyroState(void);
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void setTargetPidLooptime(uint8_t pidProcessDenom);
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