mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-24 16:55:36 +03:00
88 lines
3 KiB
C
88 lines
3 KiB
C
/*
|
|
* This file is part of Cleanflight.
|
|
*
|
|
* Cleanflight is free software: you can redistribute it and/or modify
|
|
* it 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 is distributed in the hope that it 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#define GYRO_I_MAX 256 // Gyro I limiter
|
|
#define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter
|
|
#define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter
|
|
#define IS_POSITIVE(x) ((x > 0) ? true : false)
|
|
|
|
typedef enum {
|
|
PIDROLL,
|
|
PIDPITCH,
|
|
PIDYAW,
|
|
PIDALT,
|
|
PIDPOS,
|
|
PIDPOSR,
|
|
PIDNAVR,
|
|
PIDLEVEL,
|
|
PIDMAG,
|
|
PIDVEL,
|
|
PID_ITEM_COUNT
|
|
} pidIndex_e;
|
|
|
|
typedef enum {
|
|
PID_CONTROLLER_MWREWRITE = 1,
|
|
PID_CONTROLLER_LUX_FLOAT,
|
|
PID_COUNT
|
|
} pidControllerType_e;
|
|
|
|
#define IS_PID_CONTROLLER_FP_BASED(pidController) (pidController == 2)
|
|
|
|
typedef struct pidProfile_s {
|
|
uint8_t pidController; // 1 = rewrite from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671, 2 = Luggi09s new baseflight pid
|
|
|
|
uint8_t P8[PID_ITEM_COUNT];
|
|
uint8_t I8[PID_ITEM_COUNT];
|
|
uint8_t D8[PID_ITEM_COUNT];
|
|
|
|
float P_f[3]; // float p i and d factors for lux float pid controller
|
|
float I_f[3];
|
|
float D_f[3];
|
|
float A_level;
|
|
float H_level;
|
|
uint8_t H_sensitivity;
|
|
|
|
uint16_t airModeInsaneAcrobilityFactor; // Air mode acrobility factor
|
|
uint8_t dterm_cut_hz; // (default 17Hz, Range 1-50Hz) Used for PT1 element in PID1, PID2 and PID5
|
|
uint8_t delta_from_gyro_error; // Used for filering Pterm noise on noisy frames
|
|
uint8_t gyro_soft_lpf; // Gyro FIR filter
|
|
|
|
#ifdef GTUNE
|
|
uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune
|
|
uint8_t gtune_hilimP[3]; // [0..200] Higher limit of P during G tune. 0 Disables tuning for that axis.
|
|
uint8_t gtune_pwr; // [0..10] Strength of adjustment
|
|
uint16_t gtune_settle_time; // [200..1000] Settle time in ms
|
|
uint8_t gtune_average_cycles; // [8..128] Number of looptime cycles used for gyro average calculation
|
|
#endif
|
|
} pidProfile_t;
|
|
|
|
typedef struct airModePlus {
|
|
float factor;
|
|
float wowFactor;
|
|
float iTermScaler;
|
|
bool isCurrentlyAtZero;
|
|
bool previousReferenceIsPositive;
|
|
} airModePlus_t;
|
|
|
|
extern int16_t axisPID[XYZ_AXIS_COUNT];
|
|
extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
|
|
|
|
void pidSetController(pidControllerType_e type);
|
|
void pidResetErrorGyro(void);
|
|
|