Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 04:45:24 +03:00
Code Issues Wiki Activity
betaflight/src/main/flight/pid.c
ctzsnooze b70d34f9db Update D_CUT to D_MIN, add setpoint 
Directly and easily set the minimum value for D on pitch and roll.
- Boost back to the primary D setting is generated from gyro or setpoint inputs.
- Setpoint input is stick derived, faster by 10ms approx, and does not respond to propwash.
- Gyro input is motor derived and slower, but responds to propwash
- timing value sets balance between gyro (100) and setpoint (0) boost factors
- gain value sets overall sensitivity
- default D mins are 20 roll 22 pitch
- default D is 35, 38; if undefined then normal 30, 32 values
TUNING
- D value to flip overshoot control
- D_min to noise, lower values mean cooler motors but perhaps more propwash.
- Advance, higher values bring the boost in earlier, and stronger overall, useful for very high flip rates, but dampen stick responsiveness slightly.
- Gain value adjust against logs, checking maximal boost with flips and some rise with propwash, should be edging to get up from the min value in normal flight.
2019-02-10 01:44:55 +11:00

1504 lines
58 KiB
C
Raw Blame History

/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software 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 and Betaflight are distributed in the hope that they
* 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 this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include "platform.h"
#include "build/build_config.h"
#include "build/debug.h"
#include "common/axis.h"
#include "common/filter.h"
#include "common/maths.h"
#include "config/config_reset.h"
#include "drivers/sound_beeper.h"
#include "drivers/time.h"
#include "fc/controlrate_profile.h"
#include "fc/core.h"
#include "fc/rc.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "flight/gps_rescue.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "io/gps.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "sensors/acceleration.h"
#include "sensors/battery.h"
#include "sensors/gyro.h"
#include "sensors/rpm_filter.h"
#include "pid.h"
const char pidNames[] =
"ROLL;"
"PITCH;"
"YAW;"
"LEVEL;"
"MAG;";
FAST_RAM_ZERO_INIT uint32_t targetPidLooptime;
FAST_RAM_ZERO_INIT pidAxisData_t pidData[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT bool pidStabilisationEnabled;
static FAST_RAM_ZERO_INIT bool inCrashRecoveryMode = false;
static FAST_RAM_ZERO_INIT float dT;
static FAST_RAM_ZERO_INIT float pidFrequency;
static FAST_RAM_ZERO_INIT uint8_t antiGravityMode;
static FAST_RAM_ZERO_INIT float antiGravityThrottleHpf;
static FAST_RAM_ZERO_INIT uint16_t itermAcceleratorGain;
static FAST_RAM float antiGravityOsdCutoff = 1.0f;
static FAST_RAM_ZERO_INIT bool antiGravityEnabled;
static FAST_RAM_ZERO_INIT bool zeroThrottleItermReset;
PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 2);
#ifdef STM32F10X
#define PID_PROCESS_DENOM_DEFAULT 1
#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689)
#define PID_PROCESS_DENOM_DEFAULT 4
#else
#define PID_PROCESS_DENOM_DEFAULT 2
#endif
#if defined(USE_D_MIN)
#define D_MIN_GAIN_FACTOR 0.00005f
#define D_MIN_SETPOINT_GAIN_FACTOR 0.00005f
#define D_MIN_RANGE_HZ 80 // Biquad lowpass input cutoff to peak D around propwash frequencies
#define D_MIN_LOWPASS_HZ 10 // PT1 lowpass cutoff to smooth the boost effect
#endif
#ifdef USE_RUNAWAY_TAKEOFF
PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
.pid_process_denom = PID_PROCESS_DENOM_DEFAULT,
.runaway_takeoff_prevention = true,
.runaway_takeoff_deactivate_throttle = 20, // throttle level % needed to accumulate deactivation time
.runaway_takeoff_deactivate_delay = 500 // Accumulated time (in milliseconds) before deactivation in successful takeoff
);
#else
PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
.pid_process_denom = PID_PROCESS_DENOM_DEFAULT
);
#endif
#ifdef USE_ACRO_TRAINER
#define ACRO_TRAINER_LOOKAHEAD_RATE_LIMIT 500.0f // Max gyro rate for lookahead time scaling
#define ACRO_TRAINER_SETPOINT_LIMIT 1000.0f // Limit the correcting setpoint
#endif // USE_ACRO_TRAINER
#define ANTI_GRAVITY_THROTTLE_FILTER_CUTOFF 15 // The anti gravity throttle highpass filter cutoff
#define CRASH_RECOVERY_DETECTION_DELAY_US 1000000 // 1 second delay before crash recovery detection is active after entering a self-level mode
#define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 9);
void resetPidProfile(pidProfile_t *pidProfile)
{
RESET_CONFIG(pidProfile_t, pidProfile,
.pid = {
[PID_ROLL] = { 46, 65, 35, 60 },
[PID_PITCH] = { 50, 75, 38, 60 },
[PID_YAW] = { 45, 100, 0, 100 },
[PID_LEVEL] = { 50, 50, 75, 0 },
[PID_MAG] = { 40, 0, 0, 0 },
},
.pidSumLimit = PIDSUM_LIMIT,
.pidSumLimitYaw = PIDSUM_LIMIT_YAW,
.yaw_lowpass_hz = 0,
.dterm_notch_hz = 0,
.dterm_notch_cutoff = 0,
.itermWindupPointPercent = 100,
.vbatPidCompensation = 0,
.pidAtMinThrottle = PID_STABILISATION_ON,
.levelAngleLimit = 55,
.feedForwardTransition = 0,
.yawRateAccelLimit = 0,
.rateAccelLimit = 0,
.itermThrottleThreshold = 250,
.itermAcceleratorGain = 5000,
.crash_time = 500, // ms
.crash_delay = 0, // ms
.crash_recovery_angle = 10, // degrees
.crash_recovery_rate = 100, // degrees/second
.crash_dthreshold = 50, // degrees/second/second
.crash_gthreshold = 400, // degrees/second
.crash_setpoint_threshold = 350, // degrees/second
.crash_recovery = PID_CRASH_RECOVERY_OFF, // off by default
.horizon_tilt_effect = 75,
.horizon_tilt_expert_mode = false,
.crash_limit_yaw = 200,
.itermLimit = 400,
.throttle_boost = 5,
.throttle_boost_cutoff = 15,
.iterm_rotation = true,
.smart_feedforward = false,
.iterm_relax = ITERM_RELAX_RP,
.iterm_relax_cutoff = 20,
.iterm_relax_type = ITERM_RELAX_SETPOINT,
.acro_trainer_angle_limit = 20,
.acro_trainer_lookahead_ms = 50,
.acro_trainer_debug_axis = FD_ROLL,
.acro_trainer_gain = 75,
.abs_control_gain = 0,
.abs_control_limit = 90,
.abs_control_error_limit = 20,
.abs_control_cutoff = 11,
.antiGravityMode = ANTI_GRAVITY_SMOOTH,
.dterm_lowpass_hz = 100, // dual PT1 filtering ON by default
.dterm_lowpass2_hz = 200, // second Dterm LPF ON by default
.dterm_filter_type = FILTER_PT1,
.dterm_filter2_type = FILTER_PT1,
.dyn_lpf_dterm_min_hz = 150,
.dyn_lpf_dterm_max_hz = 250,
.launchControlMode = LAUNCH_CONTROL_MODE_NORMAL,
.launchControlThrottlePercent = 20,
.launchControlAngleLimit = 0,
.launchControlGain = 40,
.launchControlAllowTriggerReset = true,
.use_integrated_yaw = false,
.integrated_yaw_relax = 200,
.thrustLinearization = 0,
.d_min_roll = 20,
.d_min_pitch = 22,
.d_min_yaw = 0,
.d_min_gain = 20,
.d_min_advance = 20,
.motor_output_limit = 100,
.auto_profile_cell_count = AUTO_PROFILE_CELL_COUNT_STAY,
);
#ifdef USE_DYN_LPF
pidProfile->dterm_lowpass_hz = 150;
pidProfile->dterm_lowpass2_hz = 150;
pidProfile->dterm_filter_type = FILTER_BIQUAD;
pidProfile->dterm_filter2_type = FILTER_BIQUAD;
#endif
#ifndef USE_D_MIN
pidProfile->pid[PID_ROLL].D = 30;
pidProfile->pid[PID_PITCH].D = 32;
#endif
}
void pgResetFn_pidProfiles(pidProfile_t *pidProfiles)
{
for (int i = 0; i < PID_PROFILE_COUNT; i++) {
resetPidProfile(&pidProfiles[i]);
}
}
static void pidSetTargetLooptime(uint32_t pidLooptime)
{
targetPidLooptime = pidLooptime;
dT = targetPidLooptime * 1e-6f;
pidFrequency = 1.0f / dT;
}
static FAST_RAM float itermAccelerator = 1.0f;
void pidSetItermAccelerator(float newItermAccelerator)
{
itermAccelerator = newItermAccelerator;
}
bool pidOsdAntiGravityActive(void)
{
return (itermAccelerator > antiGravityOsdCutoff);
}
void pidStabilisationState(pidStabilisationState_e pidControllerState)
{
pidStabilisationEnabled = (pidControllerState == PID_STABILISATION_ON) ? true : false;
}
const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
typedef union dtermLowpass_u {
pt1Filter_t pt1Filter;
biquadFilter_t biquadFilter;
} dtermLowpass_t;
static FAST_RAM_ZERO_INIT float previousPidSetpoint[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT filterApplyFnPtr dtermNotchApplyFn;
static FAST_RAM_ZERO_INIT biquadFilter_t dtermNotch[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT filterApplyFnPtr dtermLowpassApplyFn;
static FAST_RAM_ZERO_INIT dtermLowpass_t dtermLowpass[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT filterApplyFnPtr dtermLowpass2ApplyFn;
static FAST_RAM_ZERO_INIT dtermLowpass_t dtermLowpass2[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT filterApplyFnPtr ptermYawLowpassApplyFn;
static FAST_RAM_ZERO_INIT pt1Filter_t ptermYawLowpass;
#if defined(USE_ITERM_RELAX)
static FAST_RAM_ZERO_INIT pt1Filter_t windupLpf[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT uint8_t itermRelax;
static FAST_RAM_ZERO_INIT uint8_t itermRelaxType;
static FAST_RAM_ZERO_INIT uint8_t itermRelaxCutoff;
#endif
#if defined(USE_ABSOLUTE_CONTROL)
STATIC_UNIT_TESTED FAST_RAM_ZERO_INIT float axisError[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT float acGain;
static FAST_RAM_ZERO_INIT float acLimit;
static FAST_RAM_ZERO_INIT float acErrorLimit;
static FAST_RAM_ZERO_INIT float acCutoff;
static FAST_RAM_ZERO_INIT pt1Filter_t acLpf[XYZ_AXIS_COUNT];
#endif
#if defined(USE_D_MIN)
static FAST_RAM_ZERO_INIT uint8_t dMin[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT biquadFilter_t dMinRange[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT pt1Filter_t dMinLowpass[XYZ_AXIS_COUNT];
#endif
#ifdef USE_RC_SMOOTHING_FILTER
static FAST_RAM_ZERO_INIT pt1Filter_t setpointDerivativePt1[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT biquadFilter_t setpointDerivativeBiquad[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT bool setpointDerivativeLpfInitialized;
static FAST_RAM_ZERO_INIT uint8_t rcSmoothingDebugAxis;
static FAST_RAM_ZERO_INIT uint8_t rcSmoothingFilterType;
#endif // USE_RC_SMOOTHING_FILTER
static FAST_RAM_ZERO_INIT pt1Filter_t antiGravityThrottleLpf;
void pidInitFilters(const pidProfile_t *pidProfile)
{
STATIC_ASSERT(FD_YAW == 2, FD_YAW_incorrect); // ensure yaw axis is 2
if (targetPidLooptime == 0) {
// no looptime set, so set all the filters to null
dtermNotchApplyFn = nullFilterApply;
dtermLowpassApplyFn = nullFilterApply;
ptermYawLowpassApplyFn = nullFilterApply;
return;
}
const uint32_t pidFrequencyNyquist = pidFrequency / 2; // No rounding needed
uint16_t dTermNotchHz;
if (pidProfile->dterm_notch_hz <= pidFrequencyNyquist) {
dTermNotchHz = pidProfile->dterm_notch_hz;
} else {
if (pidProfile->dterm_notch_cutoff < pidFrequencyNyquist) {
dTermNotchHz = pidFrequencyNyquist;
} else {
dTermNotchHz = 0;
}
}
if (dTermNotchHz != 0 && pidProfile->dterm_notch_cutoff != 0) {
dtermNotchApplyFn = (filterApplyFnPtr)biquadFilterApply;
const float notchQ = filterGetNotchQ(dTermNotchHz, pidProfile->dterm_notch_cutoff);
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
biquadFilterInit(&dtermNotch[axis], dTermNotchHz, targetPidLooptime, notchQ, FILTER_NOTCH);
}
} else {
dtermNotchApplyFn = nullFilterApply;
}
//1st Dterm Lowpass Filter
uint16_t dterm_lowpass_hz = pidProfile->dterm_lowpass_hz;
#ifdef USE_DYN_LPF
dterm_lowpass_hz = MAX(pidProfile->dterm_lowpass_hz, pidProfile->dyn_lpf_dterm_min_hz);
#endif
if (dterm_lowpass_hz > 0 && dterm_lowpass_hz < pidFrequencyNyquist) {
switch (pidProfile->dterm_filter_type) {
case FILTER_PT1:
dtermLowpassApplyFn = (filterApplyFnPtr)pt1FilterApply;
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
pt1FilterInit(&dtermLowpass[axis].pt1Filter, pt1FilterGain(dterm_lowpass_hz, dT));
}
break;
case FILTER_BIQUAD:
#ifdef USE_DYN_LPF
dtermLowpassApplyFn = (filterApplyFnPtr)biquadFilterApplyDF1;
#else
dtermLowpassApplyFn = (filterApplyFnPtr)biquadFilterApply;
#endif
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
biquadFilterInitLPF(&dtermLowpass[axis].biquadFilter, dterm_lowpass_hz, targetPidLooptime);
}
break;
default:
dtermLowpassApplyFn = nullFilterApply;
break;
}
} else {
dtermLowpassApplyFn = nullFilterApply;
}
//2nd Dterm Lowpass Filter
if (pidProfile->dterm_lowpass2_hz == 0 || pidProfile->dterm_lowpass2_hz > pidFrequencyNyquist) {
dtermLowpass2ApplyFn = nullFilterApply;
} else {
switch (pidProfile->dterm_filter2_type) {
case FILTER_PT1:
dtermLowpass2ApplyFn = (filterApplyFnPtr)pt1FilterApply;
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
pt1FilterInit(&dtermLowpass2[axis].pt1Filter, pt1FilterGain(pidProfile->dterm_lowpass2_hz, dT));
}
break;
case FILTER_BIQUAD:
dtermLowpass2ApplyFn = (filterApplyFnPtr)biquadFilterApply;
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
biquadFilterInitLPF(&dtermLowpass2[axis].biquadFilter, pidProfile->dterm_lowpass2_hz, targetPidLooptime);
}
break;
default:
dtermLowpass2ApplyFn = nullFilterApply;
break;
}
}
if (pidProfile->yaw_lowpass_hz == 0 || pidProfile->yaw_lowpass_hz > pidFrequencyNyquist) {
ptermYawLowpassApplyFn = nullFilterApply;
} else {
ptermYawLowpassApplyFn = (filterApplyFnPtr)pt1FilterApply;
pt1FilterInit(&ptermYawLowpass, pt1FilterGain(pidProfile->yaw_lowpass_hz, dT));
}
#if defined(USE_THROTTLE_BOOST)
pt1FilterInit(&throttleLpf, pt1FilterGain(pidProfile->throttle_boost_cutoff, dT));
#endif
#if defined(USE_ITERM_RELAX)
if (itermRelax) {
for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
pt1FilterInit(&windupLpf[i], pt1FilterGain(itermRelaxCutoff, dT));
}
}
#endif
#if defined(USE_ABSOLUTE_CONTROL)
if (itermRelax) {
for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
pt1FilterInit(&acLpf[i], pt1FilterGain(acCutoff, dT));
}
}
#endif
#if defined(USE_D_MIN)
dMin[FD_ROLL] = pidProfile->d_min_roll;
dMin[FD_PITCH] = pidProfile->d_min_pitch;
dMin[FD_YAW] = pidProfile->d_min_yaw;
// Initialize the filters for all axis even if the dMin[axis] value is 0
// Otherwise if the pidProfile->d_min_xxx parameters are ever added to
// in-flight adjustments and transition from 0 to > 0 in flight the feature
// won't work because the filter wasn't initialized.
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
biquadFilterInitLPF(&dMinRange[axis], D_MIN_RANGE_HZ, targetPidLooptime);
pt1FilterInit(&dMinLowpass[axis], pt1FilterGain(D_MIN_LOWPASS_HZ, dT));
}
#endif
pt1FilterInit(&antiGravityThrottleLpf, pt1FilterGain(ANTI_GRAVITY_THROTTLE_FILTER_CUTOFF, dT));
}
#ifdef USE_RC_SMOOTHING_FILTER
void pidInitSetpointDerivativeLpf(uint16_t filterCutoff, uint8_t debugAxis, uint8_t filterType)
{
rcSmoothingDebugAxis = debugAxis;
rcSmoothingFilterType = filterType;
if ((filterCutoff > 0) && (rcSmoothingFilterType != RC_SMOOTHING_DERIVATIVE_OFF)) {
setpointDerivativeLpfInitialized = true;
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
switch (rcSmoothingFilterType) {
case RC_SMOOTHING_DERIVATIVE_PT1:
pt1FilterInit(&setpointDerivativePt1[axis], pt1FilterGain(filterCutoff, dT));
break;
case RC_SMOOTHING_DERIVATIVE_BIQUAD:
biquadFilterInitLPF(&setpointDerivativeBiquad[axis], filterCutoff, targetPidLooptime);
break;
}
}
}
}
void pidUpdateSetpointDerivativeLpf(uint16_t filterCutoff)
{
if ((filterCutoff > 0) && (rcSmoothingFilterType != RC_SMOOTHING_DERIVATIVE_OFF)) {
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
switch (rcSmoothingFilterType) {
case RC_SMOOTHING_DERIVATIVE_PT1:
pt1FilterUpdateCutoff(&setpointDerivativePt1[axis], pt1FilterGain(filterCutoff, dT));
break;
case RC_SMOOTHING_DERIVATIVE_BIQUAD:
biquadFilterUpdateLPF(&setpointDerivativeBiquad[axis], filterCutoff, targetPidLooptime);
break;
}
}
}
}
#endif // USE_RC_SMOOTHING_FILTER
typedef struct pidCoefficient_s {
float Kp;
float Ki;
float Kd;
float Kf;
} pidCoefficient_t;
static FAST_RAM_ZERO_INIT pidCoefficient_t pidCoefficient[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT float maxVelocity[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT float feedForwardTransition;
static FAST_RAM_ZERO_INIT float levelGain, horizonGain, horizonTransition, horizonCutoffDegrees, horizonFactorRatio;
static FAST_RAM_ZERO_INIT float itermWindupPointInv;
static FAST_RAM_ZERO_INIT uint8_t horizonTiltExpertMode;
static FAST_RAM_ZERO_INIT timeDelta_t crashTimeLimitUs;
static FAST_RAM_ZERO_INIT timeDelta_t crashTimeDelayUs;
static FAST_RAM_ZERO_INIT int32_t crashRecoveryAngleDeciDegrees;
static FAST_RAM_ZERO_INIT float crashRecoveryRate;
static FAST_RAM_ZERO_INIT float crashDtermThreshold;
static FAST_RAM_ZERO_INIT float crashGyroThreshold;
static FAST_RAM_ZERO_INIT float crashSetpointThreshold;
static FAST_RAM_ZERO_INIT float crashLimitYaw;
static FAST_RAM_ZERO_INIT float itermLimit;
#if defined(USE_THROTTLE_BOOST)
FAST_RAM_ZERO_INIT float throttleBoost;
pt1Filter_t throttleLpf;
#endif
static FAST_RAM_ZERO_INIT bool itermRotation;
#if defined(USE_SMART_FEEDFORWARD)
static FAST_RAM_ZERO_INIT bool smartFeedforward;
#endif
#ifdef USE_LAUNCH_CONTROL
static FAST_RAM_ZERO_INIT uint8_t launchControlMode;
static FAST_RAM_ZERO_INIT uint8_t launchControlAngleLimit;
static FAST_RAM_ZERO_INIT float launchControlKi;
#endif
#ifdef USE_INTEGRATED_YAW_CONTROL
static FAST_RAM_ZERO_INIT bool useIntegratedYaw;
static FAST_RAM_ZERO_INIT uint8_t integratedYawRelax;
#endif
void pidResetIterm(void)
{
for (int axis = 0; axis < 3; axis++) {
pidData[axis].I = 0.0f;
#if defined(USE_ABSOLUTE_CONTROL)
axisError[axis] = 0.0f;
#endif
}
}
#ifdef USE_ACRO_TRAINER
static FAST_RAM_ZERO_INIT float acroTrainerAngleLimit;
static FAST_RAM_ZERO_INIT float acroTrainerLookaheadTime;
static FAST_RAM_ZERO_INIT uint8_t acroTrainerDebugAxis;
static FAST_RAM_ZERO_INIT bool acroTrainerActive;
static FAST_RAM_ZERO_INIT int acroTrainerAxisState[2]; // only need roll and pitch
static FAST_RAM_ZERO_INIT float acroTrainerGain;
#endif // USE_ACRO_TRAINER
#ifdef USE_THRUST_LINEARIZATION
FAST_RAM_ZERO_INIT float thrustLinearization;
FAST_RAM_ZERO_INIT float thrustLinearizationReciprocal;
FAST_RAM_ZERO_INIT float thrustLinearizationB;
#endif
void pidUpdateAntiGravityThrottleFilter(float throttle)
{
if (antiGravityMode == ANTI_GRAVITY_SMOOTH) {
antiGravityThrottleHpf = throttle - pt1FilterApply(&antiGravityThrottleLpf, throttle);
}
}
#ifdef USE_DYN_LPF
static FAST_RAM uint8_t dynLpfFilter = DYN_LPF_NONE;
static FAST_RAM_ZERO_INIT uint16_t dynLpfMin;
static FAST_RAM_ZERO_INIT uint16_t dynLpfMax;
#endif
#ifdef USE_D_MIN
static FAST_RAM_ZERO_INIT float dMinPercent[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT float dMinGyroGain;
static FAST_RAM_ZERO_INIT float dMinSetpointGain;
#endif
void pidInitConfig(const pidProfile_t *pidProfile)
{
if (pidProfile->feedForwardTransition == 0) {
feedForwardTransition = 0;
} else {
feedForwardTransition = 100.0f / pidProfile->feedForwardTransition;
}
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
pidCoefficient[axis].Kp = PTERM_SCALE * pidProfile->pid[axis].P;
pidCoefficient[axis].Ki = ITERM_SCALE * pidProfile->pid[axis].I;
pidCoefficient[axis].Kd = DTERM_SCALE * pidProfile->pid[axis].D;
pidCoefficient[axis].Kf = FEEDFORWARD_SCALE * (pidProfile->pid[axis].F / 100.0f);
}
levelGain = pidProfile->pid[PID_LEVEL].P / 10.0f;
horizonGain = pidProfile->pid[PID_LEVEL].I / 10.0f;
horizonTransition = (float)pidProfile->pid[PID_LEVEL].D;
horizonTiltExpertMode = pidProfile->horizon_tilt_expert_mode;
horizonCutoffDegrees = (175 - pidProfile->horizon_tilt_effect) * 1.8f;
horizonFactorRatio = (100 - pidProfile->horizon_tilt_effect) * 0.01f;
maxVelocity[FD_ROLL] = maxVelocity[FD_PITCH] = pidProfile->rateAccelLimit * 100 * dT;
maxVelocity[FD_YAW] = pidProfile->yawRateAccelLimit * 100 * dT;
itermWindupPointInv = 1.0f;
if (pidProfile->itermWindupPointPercent < 100) {
const float itermWindupPoint = pidProfile->itermWindupPointPercent / 100.0f;
itermWindupPointInv = 1.0f / (1.0f - itermWindupPoint);
}
itermAcceleratorGain = pidProfile->itermAcceleratorGain;
crashTimeLimitUs = pidProfile->crash_time * 1000;
crashTimeDelayUs = pidProfile->crash_delay * 1000;
crashRecoveryAngleDeciDegrees = pidProfile->crash_recovery_angle * 10;
crashRecoveryRate = pidProfile->crash_recovery_rate;
crashGyroThreshold = pidProfile->crash_gthreshold;
crashDtermThreshold = pidProfile->crash_dthreshold;
crashSetpointThreshold = pidProfile->crash_setpoint_threshold;
crashLimitYaw = pidProfile->crash_limit_yaw;
itermLimit = pidProfile->itermLimit;
#if defined(USE_THROTTLE_BOOST)
throttleBoost = pidProfile->throttle_boost * 0.1f;
#endif
itermRotation = pidProfile->iterm_rotation;
antiGravityMode = pidProfile->antiGravityMode;
// Calculate the anti-gravity value that will trigger the OSD display.
// For classic AG it's either 1.0 for off and > 1.0 for on.
// For the new AG it's a continuous floating value so we want to trigger the OSD
// display when it exceeds 25% of its possible range. This gives a useful indication
// of AG activity without excessive display.
antiGravityOsdCutoff = 1.0f;
if (antiGravityMode == ANTI_GRAVITY_SMOOTH) {
antiGravityOsdCutoff += ((itermAcceleratorGain - 1000) / 1000.0f) * 0.25f;
}
#if defined(USE_SMART_FEEDFORWARD)
smartFeedforward = pidProfile->smart_feedforward;
#endif
#if defined(USE_ITERM_RELAX)
itermRelax = pidProfile->iterm_relax;
itermRelaxType = pidProfile->iterm_relax_type;
itermRelaxCutoff = pidProfile->iterm_relax_cutoff;
#endif
#ifdef USE_ACRO_TRAINER
acroTrainerAngleLimit = pidProfile->acro_trainer_angle_limit;
acroTrainerLookaheadTime = (float)pidProfile->acro_trainer_lookahead_ms / 1000.0f;
acroTrainerDebugAxis = pidProfile->acro_trainer_debug_axis;
acroTrainerGain = (float)pidProfile->acro_trainer_gain / 10.0f;
#endif // USE_ACRO_TRAINER
#if defined(USE_ABSOLUTE_CONTROL)
acGain = (float)pidProfile->abs_control_gain;
acLimit = (float)pidProfile->abs_control_limit;
acErrorLimit = (float)pidProfile->abs_control_error_limit;
acCutoff = (float)pidProfile->abs_control_cutoff;
#endif
#ifdef USE_DYN_LPF
if (pidProfile->dyn_lpf_dterm_min_hz > 0) {
switch (pidProfile->dterm_filter_type) {
case FILTER_PT1:
dynLpfFilter = DYN_LPF_PT1;
break;
case FILTER_BIQUAD:
dynLpfFilter = DYN_LPF_BIQUAD;
break;
default:
dynLpfFilter = DYN_LPF_NONE;
break;
}
} else {
dynLpfFilter = DYN_LPF_NONE;
}
dynLpfMin = pidProfile->dyn_lpf_dterm_min_hz;
dynLpfMax = pidProfile->dyn_lpf_dterm_max_hz;
#endif
#ifdef USE_LAUNCH_CONTROL
launchControlMode = pidProfile->launchControlMode;
if (sensors(SENSOR_ACC)) {
launchControlAngleLimit = pidProfile->launchControlAngleLimit;
} else {
launchControlAngleLimit = 0;
}
launchControlKi = ITERM_SCALE * pidProfile->launchControlGain;
#endif
#ifdef USE_INTEGRATED_YAW_CONTROL
useIntegratedYaw = pidProfile->use_integrated_yaw;
integratedYawRelax = pidProfile->integrated_yaw_relax;
#endif
#ifdef USE_THRUST_LINEARIZATION
thrustLinearization = pidProfile->thrustLinearization / 100.0f;
if (thrustLinearization != 0.0f) {
thrustLinearizationReciprocal = 1.0f / thrustLinearization;
thrustLinearizationB = (1.0f - thrustLinearization) / (2.0f * thrustLinearization);
}
#endif
#if defined(USE_D_MIN)
for (int axis = FD_ROLL; axis <= FD_YAW; ++axis) {
if ((dMin[axis] > 0) && (dMin[axis] < pidProfile->pid[axis].D)) {
dMinPercent[axis] = dMin[axis] / (float)(pidProfile->pid[axis].D);
} else {
dMinPercent[axis] = 0;
}
}
dMinGyroGain = pidProfile->d_min_gain * D_MIN_GAIN_FACTOR / D_MIN_LOWPASS_HZ;
dMinSetpointGain = pidProfile->d_min_gain * D_MIN_SETPOINT_GAIN_FACTOR * pidProfile->d_min_advance * pidFrequency / (100 * D_MIN_LOWPASS_HZ);
// lowpass included inversely in gain since stronger lowpass decreases peak effect
#endif
}
void pidInit(const pidProfile_t *pidProfile)
{
pidSetTargetLooptime(gyro.targetLooptime * pidConfig()->pid_process_denom); // Initialize pid looptime
pidInitFilters(pidProfile);
pidInitConfig(pidProfile);
#ifdef USE_RPM_FILTER
rpmFilterInit(rpmFilterConfig());
#endif
}
#ifdef USE_ACRO_TRAINER
void pidAcroTrainerInit(void)
{
acroTrainerAxisState[FD_ROLL] = 0;
acroTrainerAxisState[FD_PITCH] = 0;
}
#endif // USE_ACRO_TRAINER
#ifdef USE_THRUST_LINEARIZATION
float pidCompensateThrustLinearization(float throttle)
{
if (thrustLinearization != 0.0f) {
throttle = throttle * (throttle * thrustLinearization + 1.0f - thrustLinearization);
}
return throttle;
}
float pidApplyThrustLinearization(float motorOutput)
{
if (thrustLinearization != 0.0f) {
if (motorOutput > 0.0f) {
motorOutput = sqrtf(motorOutput * thrustLinearizationReciprocal +
thrustLinearizationB * thrustLinearizationB) - thrustLinearizationB;
}
}
return motorOutput;
}
#endif
void pidCopyProfile(uint8_t dstPidProfileIndex, uint8_t srcPidProfileIndex)
{
if ((dstPidProfileIndex < PID_PROFILE_COUNT-1 && srcPidProfileIndex < PID_PROFILE_COUNT-1)
&& dstPidProfileIndex != srcPidProfileIndex
) {
memcpy(pidProfilesMutable(dstPidProfileIndex), pidProfilesMutable(srcPidProfileIndex), sizeof(pidProfile_t));
}
}
#if defined(USE_ACC)
// calculates strength of horizon leveling; 0 = none, 1.0 = most leveling
STATIC_UNIT_TESTED float calcHorizonLevelStrength(void)
{
// start with 1.0 at center stick, 0.0 at max stick deflection:
float horizonLevelStrength = 1.0f - MAX(getRcDeflectionAbs(FD_ROLL), getRcDeflectionAbs(FD_PITCH));
// 0 at level, 90 at vertical, 180 at inverted (degrees):
const float currentInclination = MAX(ABS(attitude.values.roll), ABS(attitude.values.pitch)) / 10.0f;
// horizonTiltExpertMode: 0 = leveling always active when sticks centered,
// 1 = leveling can be totally off when inverted
if (horizonTiltExpertMode) {
if (horizonTransition > 0 && horizonCutoffDegrees > 0) {
// if d_level > 0 and horizonTiltEffect < 175
// horizonCutoffDegrees: 0 to 125 => 270 to 90 (represents where leveling goes to zero)
// inclinationLevelRatio (0.0 to 1.0) is smaller (less leveling)
// for larger inclinations; 0.0 at horizonCutoffDegrees value:
const float inclinationLevelRatio = constrainf((horizonCutoffDegrees-currentInclination) / horizonCutoffDegrees, 0, 1);
// apply configured horizon sensitivity:
// when stick is near center (horizonLevelStrength ~= 1.0)
// H_sensitivity value has little effect,
// when stick is deflected (horizonLevelStrength near 0.0)
// H_sensitivity value has more effect:
horizonLevelStrength = (horizonLevelStrength - 1) * 100 / horizonTransition + 1;
// apply inclination ratio, which may lower leveling
// to zero regardless of stick position:
horizonLevelStrength *= inclinationLevelRatio;
} else { // d_level=0 or horizon_tilt_effect>=175 means no leveling
horizonLevelStrength = 0;
}
} else { // horizon_tilt_expert_mode = 0 (leveling always active when sticks centered)
float sensitFact;
if (horizonFactorRatio < 1.01f) { // if horizonTiltEffect > 0
// horizonFactorRatio: 1.0 to 0.0 (larger means more leveling)
// inclinationLevelRatio (0.0 to 1.0) is smaller (less leveling)
// for larger inclinations, goes to 1.0 at inclination==level:
const float inclinationLevelRatio = (180-currentInclination)/180 * (1.0f-horizonFactorRatio) + horizonFactorRatio;
// apply ratio to configured horizon sensitivity:
sensitFact = horizonTransition * inclinationLevelRatio;
} else { // horizonTiltEffect=0 for "old" functionality
sensitFact = horizonTransition;
}
if (sensitFact <= 0) { // zero means no leveling
horizonLevelStrength = 0;
} else {
// when stick is near center (horizonLevelStrength ~= 1.0)
// sensitFact value has little effect,
// when stick is deflected (horizonLevelStrength near 0.0)
// sensitFact value has more effect:
horizonLevelStrength = ((horizonLevelStrength - 1) * (100 / sensitFact)) + 1;
}
}
return constrainf(horizonLevelStrength, 0, 1);
}
STATIC_UNIT_TESTED 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
// rcDeflection is in range [-1.0, 1.0]
float angle = pidProfile->levelAngleLimit * getRcDeflection(axis);
#ifdef USE_GPS_RESCUE
angle += gpsRescueAngle[axis] / 100; // ANGLE IS IN CENTIDEGREES
#endif
angle = constrainf(angle, -pidProfile->levelAngleLimit, pidProfile->levelAngleLimit);
const float errorAngle = angle - ((attitude.raw[axis] - angleTrim->raw[axis]) / 10.0f);
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(GPS_RESCUE_MODE)) {
// ANGLE mode - control is angle based
currentPidSetpoint = errorAngle * levelGain;
} else {
// HORIZON mode - mix of ANGLE and ACRO modes
// mix in errorAngle to currentPidSetpoint to add a little auto-level feel
const float horizonLevelStrength = calcHorizonLevelStrength();
currentPidSetpoint = currentPidSetpoint + (errorAngle * horizonGain * horizonLevelStrength);
}
return currentPidSetpoint;
}
static timeUs_t crashDetectedAtUs;
static void handleCrashRecovery(
const pidCrashRecovery_e crash_recovery, const rollAndPitchTrims_t *angleTrim,
const int axis, const timeUs_t currentTimeUs, const float gyroRate, float *currentPidSetpoint, float *errorRate)
{
if (inCrashRecoveryMode && cmpTimeUs(currentTimeUs, crashDetectedAtUs) > crashTimeDelayUs) {
if (crash_recovery == PID_CRASH_RECOVERY_BEEP) {
BEEP_ON;
}
if (axis == FD_YAW) {
*errorRate = constrainf(*errorRate, -crashLimitYaw, crashLimitYaw);
} else {
// on roll and pitch axes calculate currentPidSetpoint and errorRate to level the aircraft to recover from crash
if (sensors(SENSOR_ACC)) {
// errorAngle is deviation from horizontal
const float errorAngle = -(attitude.raw[axis] - angleTrim->raw[axis]) / 10.0f;
*currentPidSetpoint = errorAngle * levelGain;
*errorRate = *currentPidSetpoint - gyroRate;
}
}
// reset iterm, since accumulated error before crash is now meaningless
// and iterm windup during crash recovery can be extreme, especially on yaw axis
pidData[axis].I = 0.0f;
if (cmpTimeUs(currentTimeUs, crashDetectedAtUs) > crashTimeLimitUs
|| (getMotorMixRange() < 1.0f
&& fabsf(gyro.gyroADCf[FD_ROLL]) < crashRecoveryRate
&& fabsf(gyro.gyroADCf[FD_PITCH]) < crashRecoveryRate
&& fabsf(gyro.gyroADCf[FD_YAW]) < crashRecoveryRate)) {
if (sensors(SENSOR_ACC)) {
// check aircraft nearly level
if (ABS(attitude.raw[FD_ROLL] - angleTrim->raw[FD_ROLL]) < crashRecoveryAngleDeciDegrees
&& ABS(attitude.raw[FD_PITCH] - angleTrim->raw[FD_PITCH]) < crashRecoveryAngleDeciDegrees) {
inCrashRecoveryMode = false;
BEEP_OFF;
}
} else {
inCrashRecoveryMode = false;
BEEP_OFF;
}
}
}
}
static void detectAndSetCrashRecovery(
const pidCrashRecovery_e crash_recovery, const int axis,
const timeUs_t currentTimeUs, const float delta, const float errorRate)
{
// if crash recovery is on and accelerometer enabled and there is no gyro overflow, then check for a crash
// no point in trying to recover if the crash is so severe that the gyro overflows
if ((crash_recovery || FLIGHT_MODE(GPS_RESCUE_MODE)) && !gyroOverflowDetected()) {
if (ARMING_FLAG(ARMED)) {
if (getMotorMixRange() >= 1.0f && !inCrashRecoveryMode
&& fabsf(delta) > crashDtermThreshold
&& fabsf(errorRate) > crashGyroThreshold
&& fabsf(getSetpointRate(axis)) < crashSetpointThreshold) {
inCrashRecoveryMode = true;
crashDetectedAtUs = currentTimeUs;
}
if (inCrashRecoveryMode && cmpTimeUs(currentTimeUs, crashDetectedAtUs) < crashTimeDelayUs && (fabsf(errorRate) < crashGyroThreshold
|| fabsf(getSetpointRate(axis)) > crashSetpointThreshold)) {
inCrashRecoveryMode = false;
BEEP_OFF;
}
} else if (inCrashRecoveryMode) {
inCrashRecoveryMode = false;
BEEP_OFF;
}
}
}
#endif // USE_ACC
#ifdef USE_ACRO_TRAINER
int acroTrainerSign(float x)
{
return x > 0 ? 1 : -1;
}
// Acro Trainer - Manipulate the setPoint to limit axis angle while in acro mode
// There are three states:
// 1. Current angle has exceeded limit
// Apply correction to return to limit (similar to pidLevel)
// 2. Future overflow has been projected based on current angle and gyro rate
// Manage the setPoint to control the gyro rate as the actual angle approaches the limit (try to prevent overshoot)
// 3. If no potential overflow is detected, then return the original setPoint
// Use the FAST_CODE_NOINLINE directive to avoid this code from being inlined into ITCM RAM. We accept the
// performance decrease when Acro Trainer mode is active under the assumption that user is unlikely to be
// expecting ultimate flight performance at very high loop rates when in this mode.
static FAST_CODE_NOINLINE float applyAcroTrainer(int axis, const rollAndPitchTrims_t *angleTrim, float setPoint)
{
float ret = setPoint;
if (!FLIGHT_MODE(ANGLE_MODE) && !FLIGHT_MODE(HORIZON_MODE) && !FLIGHT_MODE(GPS_RESCUE_MODE)) {
bool resetIterm = false;
float projectedAngle = 0;
const int setpointSign = acroTrainerSign(setPoint);
const float currentAngle = (attitude.raw[axis] - angleTrim->raw[axis]) / 10.0f;
const int angleSign = acroTrainerSign(currentAngle);
if ((acroTrainerAxisState[axis] != 0) && (acroTrainerAxisState[axis] != setpointSign)) { // stick has reversed - stop limiting
acroTrainerAxisState[axis] = 0;
}
// Limit and correct the angle when it exceeds the limit
if ((fabsf(currentAngle) > acroTrainerAngleLimit) && (acroTrainerAxisState[axis] == 0)) {
if (angleSign == setpointSign) {
acroTrainerAxisState[axis] = angleSign;
resetIterm = true;
}
}
if (acroTrainerAxisState[axis] != 0) {
ret = constrainf(((acroTrainerAngleLimit * angleSign) - currentAngle) * acroTrainerGain, -ACRO_TRAINER_SETPOINT_LIMIT, ACRO_TRAINER_SETPOINT_LIMIT);
} else {
// Not currently over the limit so project the angle based on current angle and
// gyro angular rate using a sliding window based on gyro rate (faster rotation means larger window.
// If the projected angle exceeds the limit then apply limiting to minimize overshoot.
// Calculate the lookahead window by scaling proportionally with gyro rate from 0-500dps
float checkInterval = constrainf(fabsf(gyro.gyroADCf[axis]) / ACRO_TRAINER_LOOKAHEAD_RATE_LIMIT, 0.0f, 1.0f) * acroTrainerLookaheadTime;
projectedAngle = (gyro.gyroADCf[axis] * checkInterval) + currentAngle;
const int projectedAngleSign = acroTrainerSign(projectedAngle);
if ((fabsf(projectedAngle) > acroTrainerAngleLimit) && (projectedAngleSign == setpointSign)) {
ret = ((acroTrainerAngleLimit * projectedAngleSign) - projectedAngle) * acroTrainerGain;
resetIterm = true;
}
}
if (resetIterm) {
pidData[axis].I = 0;
}
if (axis == acroTrainerDebugAxis) {
DEBUG_SET(DEBUG_ACRO_TRAINER, 0, lrintf(currentAngle * 10.0f));
DEBUG_SET(DEBUG_ACRO_TRAINER, 1, acroTrainerAxisState[axis]);
DEBUG_SET(DEBUG_ACRO_TRAINER, 2, lrintf(ret));
DEBUG_SET(DEBUG_ACRO_TRAINER, 3, lrintf(projectedAngle * 10.0f));
}
}
return ret;
}
#endif // USE_ACRO_TRAINER
static float accelerationLimit(int axis, float currentPidSetpoint)
{
static float previousSetpoint[XYZ_AXIS_COUNT];
const float currentVelocity = currentPidSetpoint - previousSetpoint[axis];
if (fabsf(currentVelocity) > maxVelocity[axis]) {
currentPidSetpoint = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity[axis] : previousSetpoint[axis] - maxVelocity[axis];
}
previousSetpoint[axis] = currentPidSetpoint;
return currentPidSetpoint;
}
static void rotateVector(float v[XYZ_AXIS_COUNT], float rotation[XYZ_AXIS_COUNT])
{
// rotate v around rotation vector rotation
// rotation in radians, all elements must be small
for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
int i_1 = (i + 1) % 3;
int i_2 = (i + 2) % 3;
float newV = v[i_1] + v[i_2] * rotation[i];
v[i_2] -= v[i_1] * rotation[i];
v[i_1] = newV;
}
}
STATIC_UNIT_TESTED void rotateItermAndAxisError()
{
if (itermRotation
#if defined(USE_ABSOLUTE_CONTROL)
|| acGain > 0
#endif
) {
const float gyroToAngle = dT * RAD;
float rotationRads[XYZ_AXIS_COUNT];
for (int i = FD_ROLL; i <= FD_YAW; i++) {
rotationRads[i] = gyro.gyroADCf[i] * gyroToAngle;
}
#if defined(USE_ABSOLUTE_CONTROL)
if (acGain > 0) {
rotateVector(axisError, rotationRads);
}
#endif
if (itermRotation) {
float v[XYZ_AXIS_COUNT];
for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
v[i] = pidData[i].I;
}
rotateVector(v, rotationRads );
for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
pidData[i].I = v[i];
}
}
}
}
#ifdef USE_RC_SMOOTHING_FILTER
float FAST_CODE applyRcSmoothingDerivativeFilter(int axis, float pidSetpointDelta)
{
float ret = pidSetpointDelta;
if (axis == rcSmoothingDebugAxis) {
DEBUG_SET(DEBUG_RC_SMOOTHING, 1, lrintf(pidSetpointDelta * 100.0f));
}
if (setpointDerivativeLpfInitialized) {
switch (rcSmoothingFilterType) {
case RC_SMOOTHING_DERIVATIVE_PT1:
ret = pt1FilterApply(&setpointDerivativePt1[axis], pidSetpointDelta);
break;
case RC_SMOOTHING_DERIVATIVE_BIQUAD:
ret = biquadFilterApplyDF1(&setpointDerivativeBiquad[axis], pidSetpointDelta);
break;
}
if (axis == rcSmoothingDebugAxis) {
DEBUG_SET(DEBUG_RC_SMOOTHING, 2, lrintf(ret * 100.0f));
}
}
return ret;
}
#endif // USE_RC_SMOOTHING_FILTER
#ifdef USE_SMART_FEEDFORWARD
void FAST_CODE applySmartFeedforward(int axis)
{
if (smartFeedforward) {
if (pidData[axis].P * pidData[axis].F > 0) {
if (fabsf(pidData[axis].F) > fabsf(pidData[axis].P)) {
pidData[axis].P = 0;
} else {
pidData[axis].F = 0;
}
}
}
}
#endif // USE_SMART_FEEDFORWARD
#if defined(USE_ITERM_RELAX)
#if defined(USE_ABSOLUTE_CONTROL)
STATIC_UNIT_TESTED void applyAbsoluteControl(const int axis, const float gyroRate, float *currentPidSetpoint, float *itermErrorRate)
{
if (acGain > 0) {
const float setpointLpf = pt1FilterApply(&acLpf[axis], *currentPidSetpoint);
const float setpointHpf = fabsf(*currentPidSetpoint - setpointLpf);
float acErrorRate = 0;
const float gmaxac = setpointLpf + 2 * setpointHpf;
const float gminac = setpointLpf - 2 * setpointHpf;
if (gyroRate >= gminac && gyroRate <= gmaxac) {
const float acErrorRate1 = gmaxac - gyroRate;
const float acErrorRate2 = gminac - gyroRate;
if (acErrorRate1 * axisError[axis] < 0) {
acErrorRate = acErrorRate1;
} else {
acErrorRate = acErrorRate2;
}
if (fabsf(acErrorRate * dT) > fabsf(axisError[axis]) ) {
acErrorRate = -axisError[axis] * pidFrequency;
}
} else {
acErrorRate = (gyroRate > gmaxac ? gmaxac : gminac ) - gyroRate;
}
if (isAirmodeActivated()) {
axisError[axis] = constrainf(axisError[axis] + acErrorRate * dT,
-acErrorLimit, acErrorLimit);
const float acCorrection = constrainf(axisError[axis] * acGain, -acLimit, acLimit);
*currentPidSetpoint += acCorrection;
*itermErrorRate += acCorrection;
if (axis == FD_ROLL) {
DEBUG_SET(DEBUG_ITERM_RELAX, 3, lrintf(axisError[axis] * 10));
}
}
}
}
#endif
STATIC_UNIT_TESTED void applyItermRelax(const int axis, const float iterm,
const float gyroRate, float *itermErrorRate, float *currentPidSetpoint)
{
const float setpointLpf = pt1FilterApply(&windupLpf[axis], *currentPidSetpoint);
const float setpointHpf = fabsf(*currentPidSetpoint - setpointLpf);
if (itermRelax &&
(axis < FD_YAW || itermRelax == ITERM_RELAX_RPY ||
itermRelax == ITERM_RELAX_RPY_INC)) {
const float itermRelaxFactor = 1 - setpointHpf / ITERM_RELAX_SETPOINT_THRESHOLD;
const bool isDecreasingI =
((iterm > 0) && (*itermErrorRate < 0)) || ((iterm < 0) && (*itermErrorRate > 0));
if ((itermRelax >= ITERM_RELAX_RP_INC) && isDecreasingI) {
// Do Nothing, use the precalculed itermErrorRate
} else if (itermRelaxType == ITERM_RELAX_SETPOINT && setpointHpf < ITERM_RELAX_SETPOINT_THRESHOLD) {
*itermErrorRate *= itermRelaxFactor;
} else if (itermRelaxType == ITERM_RELAX_GYRO ) {
*itermErrorRate = fapplyDeadband(setpointLpf - gyroRate, setpointHpf);
} else {
*itermErrorRate = 0.0f;
}
if (axis == FD_ROLL) {
DEBUG_SET(DEBUG_ITERM_RELAX, 0, lrintf(setpointHpf));
DEBUG_SET(DEBUG_ITERM_RELAX, 1, lrintf(itermRelaxFactor * 100.0f));
DEBUG_SET(DEBUG_ITERM_RELAX, 2, lrintf(*itermErrorRate));
}
#if defined(USE_ABSOLUTE_CONTROL)
applyAbsoluteControl(axis, gyroRate, currentPidSetpoint, itermErrorRate);
#endif
}
}
#endif
#ifdef USE_LAUNCH_CONTROL
#define LAUNCH_CONTROL_MAX_RATE 100.0f
#define LAUNCH_CONTROL_MIN_RATE 5.0f
#define LAUNCH_CONTROL_ANGLE_WINDOW 10.0f // The remaining angle degrees where rate dampening starts
static float applyLaunchControl(int axis, const rollAndPitchTrims_t *angleTrim)
{
float ret = 0.0f;
// Scale the rates based on stick deflection only. Fixed rates with a max of 100deg/sec
// reached at 50% stick deflection. This keeps the launch control positioning consistent
// regardless of the user's rates.
if ((axis == FD_PITCH) || (launchControlMode != LAUNCH_CONTROL_MODE_PITCHONLY)) {
const float stickDeflection = constrainf(getRcDeflection(axis), -0.5f, 0.5f);
ret = LAUNCH_CONTROL_MAX_RATE * stickDeflection * 2;
}
#if defined(USE_ACC)
// If ACC is enabled and a limit angle is set, then try to limit forward tilt
// to that angle and slow down the rate as the limit is approached to reduce overshoot
if ((axis == FD_PITCH) && (launchControlAngleLimit > 0) && (ret > 0)) {
const float currentAngle = (attitude.raw[axis] - angleTrim->raw[axis]) / 10.0f;
if (currentAngle >= launchControlAngleLimit) {
ret = 0.0f;
} else {
//for the last 10 degrees scale the rate from the current input to 5 dps
const float angleDelta = launchControlAngleLimit - currentAngle;
if (angleDelta <= LAUNCH_CONTROL_ANGLE_WINDOW) {
ret = scaleRangef(angleDelta, 0, LAUNCH_CONTROL_ANGLE_WINDOW, LAUNCH_CONTROL_MIN_RATE, ret);
}
}
}
#else
UNUSED(angleTrim);
#endif
return ret;
}
#endif
// 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 FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTimeUs)
{
static float previousGyroRateDterm[XYZ_AXIS_COUNT];
#if defined(USE_ACC)
static timeUs_t levelModeStartTimeUs = 0;
static bool gpsRescuePreviousState = false;
#endif
const float tpaFactor = getThrottlePIDAttenuation();
#if defined(USE_ACC)
const rollAndPitchTrims_t *angleTrim = &accelerometerConfig()->accelerometerTrims;
#else
UNUSED(pidProfile);
UNUSED(currentTimeUs);
#endif
#ifdef USE_TPA_MODE
const float tpaFactorKp = (currentControlRateProfile->tpaMode == TPA_MODE_PD) ? tpaFactor : 1.0f;
#else
const float tpaFactorKp = tpaFactor;
#endif
#ifdef USE_YAW_SPIN_RECOVERY
const bool yawSpinActive = gyroYawSpinDetected();
#endif
const bool launchControlActive = isLaunchControlActive();
#if defined(USE_ACC)
const bool gpsRescueIsActive = FLIGHT_MODE(GPS_RESCUE_MODE);
const bool levelModeActive = FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE) || gpsRescueIsActive;
// Keep track of when we entered a self-level mode so that we can
// add a guard time before crash recovery can activate.
// Also reset the guard time whenever GPS Rescue is activated.
if (levelModeActive) {
if ((levelModeStartTimeUs == 0) || (gpsRescueIsActive && !gpsRescuePreviousState)) {
levelModeStartTimeUs = currentTimeUs;
}
} else {
levelModeStartTimeUs = 0;
}
gpsRescuePreviousState = gpsRescueIsActive;
#endif
// Dynamic i component,
if ((antiGravityMode == ANTI_GRAVITY_SMOOTH) && antiGravityEnabled) {
itermAccelerator = 1 + fabsf(antiGravityThrottleHpf) * 0.01f * (itermAcceleratorGain - 1000);
DEBUG_SET(DEBUG_ANTI_GRAVITY, 1, lrintf(antiGravityThrottleHpf * 1000));
}
DEBUG_SET(DEBUG_ANTI_GRAVITY, 0, lrintf(itermAccelerator * 1000));
// gradually scale back integration when above windup point
float dynCi = dT * itermAccelerator;
if (itermWindupPointInv > 1.0f) {
dynCi *= constrainf((1.0f - getMotorMixRange()) * itermWindupPointInv, 0.0f, 1.0f);
}
// Precalculate gyro deta for D-term here, this allows loop unrolling
float gyroRateDterm[XYZ_AXIS_COUNT];
for (int axis = FD_ROLL; axis <= FD_YAW; ++axis) {
gyroRateDterm[axis] = gyro.gyroADCf[axis];
#ifdef USE_RPM_FILTER
gyroRateDterm[axis] = rpmFilterDterm(axis,gyroRateDterm[axis]);
#endif
gyroRateDterm[axis] = dtermNotchApplyFn((filter_t *) &dtermNotch[axis], gyroRateDterm[axis]);
gyroRateDterm[axis] = dtermLowpassApplyFn((filter_t *) &dtermLowpass[axis], gyroRateDterm[axis]);
gyroRateDterm[axis] = dtermLowpass2ApplyFn((filter_t *) &dtermLowpass2[axis], gyroRateDterm[axis]);
}
rotateItermAndAxisError();
#ifdef USE_RPM_FILTER
rpmFilterUpdate();
#endif
// ----------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 defined(USE_ACC)
if (levelModeActive && (axis != FD_YAW)) {
currentPidSetpoint = pidLevel(axis, pidProfile, angleTrim, currentPidSetpoint);
}
#endif
#ifdef USE_ACRO_TRAINER
if ((axis != FD_YAW) && acroTrainerActive && !inCrashRecoveryMode && !launchControlActive) {
currentPidSetpoint = applyAcroTrainer(axis, angleTrim, currentPidSetpoint);
}
#endif // USE_ACRO_TRAINER
#ifdef USE_LAUNCH_CONTROL
if (launchControlActive) {
#if defined(USE_ACC)
currentPidSetpoint = applyLaunchControl(axis, angleTrim);
#else
currentPidSetpoint = applyLaunchControl(axis, NULL);
#endif
}
#endif
// Handle yaw spin recovery - zero the setpoint on yaw to aid in recovery
// It's not necessary to zero the set points for R/P because the PIDs will be zeroed below
#ifdef USE_YAW_SPIN_RECOVERY
if ((axis == FD_YAW) && yawSpinActive) {
currentPidSetpoint = 0.0f;
}
#endif // USE_YAW_SPIN_RECOVERY
// -----calculate error rate
const float gyroRate = gyro.gyroADCf[axis]; // Process variable from gyro output in deg/sec
float errorRate = currentPidSetpoint - gyroRate; // r - y
#if defined(USE_ACC)
handleCrashRecovery(
pidProfile->crash_recovery, angleTrim, axis, currentTimeUs, gyroRate,
&currentPidSetpoint, &errorRate);
#endif
const float iterm = pidData[axis].I;
float itermErrorRate = errorRate;
#if defined(USE_ITERM_RELAX)
if (!launchControlActive) {
applyItermRelax(axis, iterm, gyroRate, &itermErrorRate, &currentPidSetpoint);
}
#endif
// --------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 (feedforward weight) can be tuned (amount derivative on measurement or error).
// -----calculate P component
pidData[axis].P = pidCoefficient[axis].Kp * errorRate * tpaFactorKp;
if (axis == FD_YAW) {
pidData[axis].P = ptermYawLowpassApplyFn((filter_t *) &ptermYawLowpass, pidData[axis].P);
}
// -----calculate I component
#ifdef USE_LAUNCH_CONTROL
// if launch control is active override the iterm gains
const float Ki = launchControlActive ? launchControlKi : pidCoefficient[axis].Ki;
#else
const float Ki = pidCoefficient[axis].Ki;
#endif
pidData[axis].I = constrainf(iterm + Ki * itermErrorRate * dynCi, -itermLimit, itermLimit);
// -----calculate pidSetpointDelta
float pidSetpointDelta = 0;
pidSetpointDelta = currentPidSetpoint - previousPidSetpoint[axis];
previousPidSetpoint[axis] = currentPidSetpoint;
#ifdef USE_RC_SMOOTHING_FILTER
pidSetpointDelta = applyRcSmoothingDerivativeFilter(axis, pidSetpointDelta);
#endif // USE_RC_SMOOTHING_FILTER
// -----calculate D component
// disable D if launch control is active
if ((pidCoefficient[axis].Kd > 0) && !launchControlActive){
// Divide rate change by dT to get differential (ie dr/dt).
// dT is fixed and calculated from the target PID loop time
// This is done to avoid DTerm spikes that occur with dynamically
// calculated deltaT whenever another task causes the PID
// loop execution to be delayed.
const float delta =
- (gyroRateDterm[axis] - previousGyroRateDterm[axis]) * pidFrequency;
#if defined(USE_ACC)
if (cmpTimeUs(currentTimeUs, levelModeStartTimeUs) > CRASH_RECOVERY_DETECTION_DELAY_US) {
detectAndSetCrashRecovery(pidProfile->crash_recovery, axis, currentTimeUs, delta, errorRate);
}
#endif
float dMinFactor = 1.0f;
#if defined(USE_D_MIN)
if (dMinPercent[axis] > 0) {
float dMinGyroFactor = biquadFilterApply(&dMinRange[axis], delta);
dMinGyroFactor = fabsf(dMinGyroFactor) * dMinGyroGain;
const float dMinSetpointFactor = (fabsf(pidSetpointDelta)) * dMinSetpointGain;
dMinFactor = MAX(dMinGyroFactor, dMinSetpointFactor);
dMinFactor = dMinPercent[axis] + (1.0f - dMinPercent[axis]) * dMinFactor;
dMinFactor = pt1FilterApply(&dMinLowpass[axis], dMinFactor);
dMinFactor = MIN(dMinFactor, 1.0f);
if (axis == FD_ROLL) {
DEBUG_SET(DEBUG_D_MIN, 0, lrintf(dMinGyroFactor * 100));
DEBUG_SET(DEBUG_D_MIN, 1, lrintf(dMinSetpointFactor * 100));
DEBUG_SET(DEBUG_D_MIN, 2, lrintf(pidCoefficient[axis].Kd * dMinFactor * 10 / DTERM_SCALE));
} else if (axis == FD_PITCH) {
DEBUG_SET(DEBUG_D_MIN, 3, lrintf(pidCoefficient[axis].Kd * dMinFactor * 10 / DTERM_SCALE));
}
}
#endif
pidData[axis].D = pidCoefficient[axis].Kd * delta * tpaFactor * dMinFactor;
} else {
pidData[axis].D = 0;
}
previousGyroRateDterm[axis] = gyroRateDterm[axis];
// -----calculate feedforward component
// Only enable feedforward for rate mode and if launch control is inactive
const float feedforwardGain = (flightModeFlags || launchControlActive) ? 0.0f : pidCoefficient[axis].Kf;
if (feedforwardGain > 0) {
// no transition if feedForwardTransition == 0
float transition = feedForwardTransition > 0 ? MIN(1.f, getRcDeflectionAbs(axis) * feedForwardTransition) : 1;
pidData[axis].F = feedforwardGain * transition * pidSetpointDelta * pidFrequency;
#if defined(USE_SMART_FEEDFORWARD)
applySmartFeedforward(axis);
#endif
} else {
pidData[axis].F = 0;
}
#ifdef USE_YAW_SPIN_RECOVERY
if (yawSpinActive) {
pidData[axis].I = 0; // in yaw spin always disable I
if (axis <= FD_PITCH) {
// zero PIDs on pitch and roll leaving yaw P to correct spin
pidData[axis].P = 0;
pidData[axis].D = 0;
pidData[axis].F = 0;
}
}
#endif // USE_YAW_SPIN_RECOVERY
#ifdef USE_LAUNCH_CONTROL
// Disable P/I appropriately based on the launch control mode
if (launchControlActive) {
// if not using FULL mode then disable I accumulation on yaw as
// yaw has a tendency to windup. Otherwise limit yaw iterm accumulation.
const int launchControlYawItermLimit = (launchControlMode == LAUNCH_CONTROL_MODE_FULL) ? LAUNCH_CONTROL_YAW_ITERM_LIMIT : 0;
pidData[FD_YAW].I = constrainf(pidData[FD_YAW].I, -launchControlYawItermLimit, launchControlYawItermLimit);
// for pitch-only mode we disable everything except pitch P/I
if (launchControlMode == LAUNCH_CONTROL_MODE_PITCHONLY) {
pidData[FD_ROLL].P = 0;
pidData[FD_ROLL].I = 0;
pidData[FD_YAW].P = 0;
// don't let I go negative (pitch backwards) as front motors are limited in the mixer
pidData[FD_PITCH].I = MAX(0.0f, pidData[FD_PITCH].I);
}
}
#endif
// calculating the PID sum
const float pidSum = pidData[axis].P + pidData[axis].I + pidData[axis].D + pidData[axis].F;
#ifdef USE_INTEGRATED_YAW_CONTROL
if (axis == FD_YAW && useIntegratedYaw) {
pidData[axis].Sum += pidSum * dT * 100.0f;
pidData[axis].Sum -= pidData[axis].Sum * integratedYawRelax / 100000.0f * dT / 0.000125f;
} else
#endif
{
pidData[axis].Sum = pidSum;
}
}
// Disable PID control if at zero throttle or if gyro overflow detected
// This may look very innefficient, but it is done on purpose to always show real CPU usage as in flight
if (!pidStabilisationEnabled || gyroOverflowDetected()) {
for (int axis = FD_ROLL; axis <= FD_YAW; ++axis) {
pidData[axis].P = 0;
pidData[axis].I = 0;
pidData[axis].D = 0;
pidData[axis].F = 0;
pidData[axis].Sum = 0;
}
} else if (zeroThrottleItermReset) {
pidResetIterm();
}
}
bool crashRecoveryModeActive(void)
{
return inCrashRecoveryMode;
}
#ifdef USE_ACRO_TRAINER
void pidSetAcroTrainerState(bool newState)
{
if (acroTrainerActive != newState) {
if (newState) {
pidAcroTrainerInit();
}
acroTrainerActive = newState;
}
}
#endif // USE_ACRO_TRAINER
void pidSetAntiGravityState(bool newState)
{
if (newState != antiGravityEnabled) {
// reset the accelerator on state changes
itermAccelerator = 1.0f;
}
antiGravityEnabled = newState;
}
bool pidAntiGravityEnabled(void)
{
return antiGravityEnabled;
}
#ifdef USE_DYN_LPF
void dynLpfDTermUpdate(float throttle)
{
if (dynLpfFilter != DYN_LPF_NONE) {
const unsigned int cutoffFreq = fmax(dynThrottle(throttle) * dynLpfMax, dynLpfMin);
if (dynLpfFilter == DYN_LPF_PT1) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
pt1FilterUpdateCutoff(&dtermLowpass[axis].pt1Filter, pt1FilterGain(cutoffFreq, dT));
}
} else if (dynLpfFilter == DYN_LPF_BIQUAD) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
biquadFilterUpdateLPF(&dtermLowpass[axis].biquadFilter, cutoffFreq, targetPidLooptime);
}
}
}
}
#endif
void pidSetItermReset(bool enabled)
{
zeroThrottleItermReset = enabled;
}
float pidGetPreviousSetpoint(int axis)
{
return previousPidSetpoint[axis];
}
Reference in a new issue View git blame Copy permalink