mirror of
https://github.com/betaflight/betaflight.git
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406 lines
16 KiB
C
406 lines
16 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 <stdbool.h>
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#include <stdint.h>
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#include <math.h>
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#include <platform.h>
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#include "build_config.h"
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#include "debug.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "common/filter.h"
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#include "drivers/sensor.h"
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#include "drivers/gyro_sync.h"
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#include "drivers/accgyro.h"
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#include "sensors/sensors.h"
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#include "sensors/gyro.h"
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#include "sensors/acceleration.h"
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#include "rx/rx.h"
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#include "io/rc_controls.h"
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#include "io/gps.h"
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#include "flight/pid.h"
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#include "flight/imu.h"
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#include "flight/navigation.h"
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#include "flight/gtune.h"
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#include "config/runtime_config.h"
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extern uint8_t motorCount;
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uint32_t targetPidLooptime;
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extern float errorLimiter;
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extern float angleRate[3], angleRateSmooth[2];
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int16_t axisPID[3];
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#ifdef BLACKBOX
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int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
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#endif
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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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uint8_t PIDweight[3];
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static int32_t errorGyroI[3];
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#ifndef SKIP_PID_LUXFLOAT
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static float errorGyroIf[3];
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#endif
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static void pidInteger(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
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const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig);
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pidControllerFuncPtr pid_controller = pidInteger; // which pid controller are we using
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void setTargetPidLooptime(uint8_t pidProcessDenom) {
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targetPidLooptime = targetLooptime * pidProcessDenom;
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}
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uint16_t getDynamicKi(int axis, const pidProfile_t *pidProfile, int32_t angleRate) {
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uint16_t dynamicKi;
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uint16_t resetRate;
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resetRate = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
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uint16_t dynamicFactor = (1 << 8) - constrain((ABS(angleRate) << 6) / resetRate, 0, 1 << 8);
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dynamicKi = (pidProfile->I8[axis] * dynamicFactor) >> 8;
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return dynamicKi;
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}
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void pidResetErrorGyroState(void)
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{
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int axis;
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for (axis = 0; axis < 3; axis++) {
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errorGyroI[axis] = 0;
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#ifndef SKIP_PID_LUXFLOAT
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errorGyroIf[axis] = 0.0f;
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#endif
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}
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}
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float getdT (void) {
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static float dT;
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if (!dT) dT = (float)targetPidLooptime * 0.000001f;
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return dT;
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}
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const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
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static filterStatePt1_t deltaFilterState[3];
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static filterStatePt1_t yawFilterState;
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#ifndef SKIP_PID_LUXFLOAT
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static void pidFloat(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
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const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
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{
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float RateError, gyroRate, RateErrorSmooth;
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float ITerm,PTerm,DTerm;
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static float lastRateError[2];
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float delta;
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int axis;
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float horizonLevelStrength = 1;
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float tpaFactor = PIDweight[0] / 100.0f; // tpa is now float
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// Scaling factors for Pids for better tunable range in configurator
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static const float luxPTermScale = 1.0f / 128;
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static const float luxITermScale = 1000000.0f / 0x1000000;
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static const float luxDTermScale = (0.000001f * (float)0xFFFF) / 508;
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if (FLIGHT_MODE(HORIZON_MODE)) {
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// Figure out the raw stick positions
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const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig->midrc));
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const int32_t stickPosEle = ABS(getRcStickDeflection(FD_PITCH, rxConfig->midrc));
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const int32_t mostDeflectedPos = MAX(stickPosAil, stickPosEle);
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// Progressively turn off the horizon self level strength as the stick is banged over
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horizonLevelStrength = (float)(500 - mostDeflectedPos) / 500; // 1 at centre stick, 0 = max stick deflection
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if(pidProfile->D8[PIDLEVEL] == 0){
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horizonLevelStrength = 0;
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} else {
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horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (100 / pidProfile->D8[PIDLEVEL])) + 1, 0, 1);
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}
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}
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// ----------PID controller----------
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for (axis = 0; axis < 3; axis++) {
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// Yaw control is GYRO based, direct sticks control is applied to rate PID
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if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
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// calculate error angle and limit the angle to the max inclination
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#ifdef GPS
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const float errorAngle = (constrain(2 * rcCommandSmooth[axis] + GPS_angle[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]); // 16 bits is ok here
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#else
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const float errorAngle = (constrain(2 * rcCommandSmooth[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]); // 16 bits is ok here
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#endif
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if (FLIGHT_MODE(ANGLE_MODE)) {
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// ANGLE mode - control is angle based, so control loop is needed
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angleRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 16.0f;
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} else {
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// HORIZON mode - direct sticks control is applied to rate PID
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// mix up angle error to desired AngleRate to add a little auto-level feel
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angleRate[axis] = angleRateSmooth[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 16.0f);
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}
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}
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gyroRate = gyroADCf[axis] / 4.0f; // gyro output scaled for easier int conversion
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// --------low-level gyro-based PID. ----------
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// Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
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// -----calculate scaled error.AngleRates
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// multiplication of rcCommand corresponds to changing the sticks scaling here
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RateError = angleRate[axis] - gyroRate;
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if (pidProfile->deltaMethod == DELTA_FROM_ERROR) {
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// Smoothed Error for Derivative when delta from error selected
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if (flightModeFlags && axis != YAW)
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RateErrorSmooth = RateError;
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else
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RateErrorSmooth = angleRateSmooth[axis] - gyroRate;
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}
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// -----calculate P component
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PTerm = luxPTermScale * RateError * pidProfile->P8[axis] * tpaFactor;
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// Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
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if((motorCount >= 4 && pidProfile->yaw_p_limit) && axis == YAW) {
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PTerm = constrainf(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
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}
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// -----calculate I component.
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uint16_t kI = (pidProfile->dynamic_pid) ? getDynamicKi(axis, pidProfile, (int32_t)angleRate[axis]) : pidProfile->I8[axis];
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errorGyroIf[axis] = constrainf(errorGyroIf[axis] + luxITermScale * errorLimiter * RateError * getdT() * kI, -250.0f, 250.0f);
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// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
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// I coefficient (I8) moved before integration to make limiting independent from PID settings
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ITerm = errorGyroIf[axis];
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//-----calculate D-term
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if (axis == YAW) {
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if (pidProfile->yaw_lpf_hz) PTerm = filterApplyPt1(PTerm, &yawFilterState, pidProfile->yaw_lpf_hz, getdT());
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axisPID[axis] = lrintf(PTerm + ITerm);
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if (motorCount >= 4) {
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int16_t yaw_jump_prevention_limit = constrain(YAW_JUMP_PREVENTION_LIMIT_HIGH - (pidProfile->D8[axis] << 3), YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH);
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// prevent "yaw jump" during yaw correction
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axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
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}
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DTerm = 0.0f; // needed for blackbox
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} else {
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if (pidProfile->deltaMethod == DELTA_FROM_ERROR) {
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delta = RateErrorSmooth - lastRateError[axis];
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lastRateError[axis] = RateErrorSmooth;
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} else {
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delta = -(gyroRate - lastRateError[axis]);
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lastRateError[axis] = gyroRate;
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}
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// Divide delta by targetLooptime to get differential (ie dr/dt)
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delta *= (1.0f / getdT());
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// Filter delta
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if (pidProfile->dterm_lpf_hz) delta = filterApplyPt1(delta, &deltaFilterState[axis], pidProfile->dterm_lpf_hz, getdT());
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DTerm = constrainf(luxDTermScale * delta * (float)pidProfile->D8[axis] * tpaFactor, -300.0f, 300.0f);
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// -----calculate total PID output
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axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -1000, 1000);
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}
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#ifdef GTUNE
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if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
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calculate_Gtune(axis);
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}
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#endif
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#ifdef BLACKBOX
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axisPID_P[axis] = PTerm;
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axisPID_I[axis] = ITerm;
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axisPID_D[axis] = DTerm;
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#endif
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}
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}
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#endif
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static void pidInteger(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
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const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
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{
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int axis;
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int32_t PTerm, ITerm, DTerm, delta;
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static int32_t lastRateError[3];
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int32_t AngleRateTmp, AngleRateTmpSmooth, RateError, gyroRate, RateErrorSmooth;
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int8_t horizonLevelStrength = 100;
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if (FLIGHT_MODE(HORIZON_MODE)) {
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// Figure out the raw stick positions
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const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig->midrc));
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const int32_t stickPosEle = ABS(getRcStickDeflection(FD_PITCH, rxConfig->midrc));
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const int32_t mostDeflectedPos = MAX(stickPosAil, stickPosEle);
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// Progressively turn off the horizon self level strength as the stick is banged over
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horizonLevelStrength = (500 - mostDeflectedPos) / 5; // 100 at centre stick, 0 = max stick deflection
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// Using Level D as a Sensitivity for Horizon. 0 more level to 255 more rate. Default value of 100 seems to work fine.
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// For more rate mode increase D and slower flips and rolls will be possible
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horizonLevelStrength = constrain((10 * (horizonLevelStrength - 100) * (10 * pidProfile->D8[PIDLEVEL] / 80) / 100) + 100, 0, 100);
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}
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// ----------PID controller----------
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for (axis = 0; axis < 3; axis++) {
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// -----Get the desired angle rate depending on flight mode
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AngleRateTmp = (int32_t)angleRate[axis];
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if (axis != YAW) AngleRateTmpSmooth = (int32_t)angleRateSmooth[axis];
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if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
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// calculate error angle and limit the angle to max configured inclination
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#ifdef GPS
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const int32_t errorAngle = constrain(2 * rcCommandSmooth[axis] + GPS_angle[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis];
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#else
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const int32_t errorAngle = constrain(2 * rcCommandSmooth[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis];
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#endif
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if (FLIGHT_MODE(ANGLE_MODE)) {
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// ANGLE mode - control is angle based, so control loop is needed
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AngleRateTmp = (errorAngle * pidProfile->P8[PIDLEVEL]) >> 4;
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} else {
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// HORIZON mode - mix up angle error to desired AngleRateTmp to add a little auto-level feel,
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// horizonLevelStrength is scaled to the stick input
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AngleRateTmp = AngleRateTmpSmooth + ((errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 100) >> 4);
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}
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}
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// --------low-level gyro-based PID. ----------
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// Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
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// -----calculate scaled error.AngleRates
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// multiplication of rcCommand corresponds to changing the sticks scaling here
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gyroRate = gyroADC[axis] / 4;
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RateError = AngleRateTmp - gyroRate;
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if (pidProfile->deltaMethod == DELTA_FROM_ERROR) {
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// Smoothed Error for Derivative when delta from error selected
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if (flightModeFlags && axis != YAW)
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RateErrorSmooth = RateError;
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else
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RateErrorSmooth = AngleRateTmpSmooth - gyroRate;
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}
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// -----calculate P component
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PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
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// Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
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if((motorCount >= 4 && pidProfile->yaw_p_limit) && axis == YAW) {
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PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
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}
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// -----calculate I component
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// there should be no division before accumulating the error to integrator, because the precision would be reduced.
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// Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.
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// Time correction (to avoid different I scaling for different builds based on average cycle time)
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// is normalized to cycle time = 2048.
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uint16_t kI = (pidProfile->dynamic_pid) ? getDynamicKi(axis, pidProfile, AngleRateTmp) : pidProfile->I8[axis];
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int32_t rateErrorLimited = errorLimiter * RateError;
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errorGyroI[axis] = errorGyroI[axis] + ((rateErrorLimited * (uint16_t)targetPidLooptime) >> 11) * kI;
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// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
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// I coefficient (I8) moved before integration to make limiting independent from PID settings
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errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
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ITerm = errorGyroI[axis] >> 13;
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//-----calculate D-term
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if (axis == YAW) {
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if (pidProfile->yaw_lpf_hz) PTerm = filterApplyPt1(PTerm, &yawFilterState, pidProfile->yaw_lpf_hz, getdT());
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axisPID[axis] = PTerm + ITerm;
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if (motorCount >= 4) {
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int16_t yaw_jump_prevention_limit = constrain(YAW_JUMP_PREVENTION_LIMIT_HIGH - (pidProfile->D8[axis] << 3), YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH);
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// prevent "yaw jump" during yaw correction
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axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
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}
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DTerm = 0; // needed for blackbox
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} else {
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if (pidProfile->deltaMethod == DELTA_FROM_ERROR) {
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delta = RateErrorSmooth - lastRateError[axis];
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lastRateError[axis] = RateErrorSmooth;
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} else {
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delta = -(gyroRate - lastRateError[axis]);
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lastRateError[axis] = gyroRate;
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}
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// Divide delta by targetLooptime to get differential (ie dr/dt)
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delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetPidLooptime >> 4))) >> 5;
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// Filter delta
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if (pidProfile->dterm_lpf_hz) delta = filterApplyPt1((float)delta, &deltaFilterState[axis], pidProfile->dterm_lpf_hz, getdT());
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DTerm = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
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// -----calculate total PID output
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axisPID[axis] = PTerm + ITerm + DTerm;
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}
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#ifdef GTUNE
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if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
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calculate_Gtune(axis);
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}
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#endif
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#ifdef BLACKBOX
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axisPID_P[axis] = PTerm;
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axisPID_I[axis] = ITerm;
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axisPID_D[axis] = DTerm;
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#endif
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}
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}
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void pidSetController(pidControllerType_e type)
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{
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switch (type) {
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default:
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case PID_CONTROLLER_INTEGER:
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pid_controller = pidInteger;
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break;
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#ifndef SKIP_PID_LUXFLOAT
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case PID_CONTROLLER_FLOAT:
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pid_controller = pidFloat;
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#endif
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}
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}
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