mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 08:15:30 +03:00
542 lines
23 KiB
C
542 lines
23 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/>.
|
|
*/
|
|
|
|
#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/maths.h"
|
|
#include "common/filter.h"
|
|
|
|
#include "config/config_reset.h"
|
|
#include "config/parameter_group.h"
|
|
#include "config/parameter_group_ids.h"
|
|
|
|
#include "drivers/sound_beeper.h"
|
|
|
|
#include "fc/fc_core.h"
|
|
#include "fc/fc_rc.h"
|
|
|
|
#include "fc/rc_controls.h"
|
|
#include "fc/runtime_config.h"
|
|
|
|
#include "flight/pid.h"
|
|
#include "flight/imu.h"
|
|
#include "flight/mixer.h"
|
|
#include "flight/navigation.h"
|
|
|
|
#include "sensors/gyro.h"
|
|
#include "sensors/acceleration.h"
|
|
|
|
uint32_t targetPidLooptime;
|
|
static bool pidStabilisationEnabled;
|
|
|
|
float axisPID_P[3], axisPID_I[3], axisPID_D[3];
|
|
|
|
static float dT;
|
|
|
|
PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 1);
|
|
|
|
#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
|
|
PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
|
|
.pid_process_denom = PID_PROCESS_DENOM_DEFAULT
|
|
);
|
|
|
|
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 2);
|
|
|
|
void resetPidProfile(pidProfile_t *pidProfile)
|
|
{
|
|
RESET_CONFIG(const pidProfile_t, pidProfile,
|
|
.pid = {
|
|
[PID_ROLL] = { 40, 40, 30 },
|
|
[PID_PITCH] = { 58, 50, 35 },
|
|
[PID_YAW] = { 70, 45, 20 },
|
|
[PID_ALT] = { 50, 0, 0 },
|
|
[PID_POS] = { 15, 0, 0 }, // POSHOLD_P * 100, POSHOLD_I * 100,
|
|
[PID_POSR] = { 34, 14, 53 }, // POSHOLD_RATE_P * 10, POSHOLD_RATE_I * 100, POSHOLD_RATE_D * 1000,
|
|
[PID_NAVR] = { 25, 33, 83 }, // NAV_P * 10, NAV_I * 100, NAV_D * 1000
|
|
[PID_LEVEL] = { 50, 50, 75 },
|
|
[PID_MAG] = { 40, 0, 0 },
|
|
[PID_VEL] = { 55, 55, 75 }
|
|
},
|
|
|
|
.pidSumLimit = PIDSUM_LIMIT,
|
|
.pidSumLimitYaw = PIDSUM_LIMIT_YAW,
|
|
.yaw_lpf_hz = 0,
|
|
.dterm_lpf_hz = 100, // filtering ON by default
|
|
.dterm_notch_hz = 260,
|
|
.dterm_notch_cutoff = 160,
|
|
.dterm_filter_type = FILTER_BIQUAD,
|
|
.itermWindupPointPercent = 50,
|
|
.vbatPidCompensation = 0,
|
|
.pidAtMinThrottle = PID_STABILISATION_ON,
|
|
.levelAngleLimit = 55,
|
|
.setpointRelaxRatio = 100,
|
|
.dtermSetpointWeight = 0,
|
|
.yawRateAccelLimit = 100,
|
|
.rateAccelLimit = 0,
|
|
.itermThrottleThreshold = 350,
|
|
.itermAcceleratorGain = 1000,
|
|
.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 = 150
|
|
);
|
|
}
|
|
|
|
void pgResetFn_pidProfiles(pidProfile_t *pidProfiles)
|
|
{
|
|
for (int i = 0; i < MAX_PROFILE_COUNT; i++) {
|
|
resetPidProfile(&pidProfiles[i]);
|
|
}
|
|
}
|
|
|
|
static void pidSetTargetLooptime(uint32_t pidLooptime)
|
|
{
|
|
targetPidLooptime = pidLooptime;
|
|
dT = (float)targetPidLooptime * 0.000001f;
|
|
}
|
|
|
|
void pidResetErrorGyroState(void)
|
|
{
|
|
for (int axis = 0; axis < 3; axis++) {
|
|
axisPID_I[axis] = 0.0f;
|
|
}
|
|
}
|
|
|
|
static float itermAccelerator = 1.0f;
|
|
|
|
void pidSetItermAccelerator(float newItermAccelerator)
|
|
{
|
|
itermAccelerator = newItermAccelerator;
|
|
}
|
|
|
|
void pidStabilisationState(pidStabilisationState_e pidControllerState)
|
|
{
|
|
pidStabilisationEnabled = (pidControllerState == PID_STABILISATION_ON) ? true : false;
|
|
}
|
|
|
|
const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
|
|
|
|
static filterApplyFnPtr dtermNotchFilterApplyFn;
|
|
static void *dtermFilterNotch[2];
|
|
static filterApplyFnPtr dtermLpfApplyFn;
|
|
static void *dtermFilterLpf[2];
|
|
static filterApplyFnPtr ptermYawFilterApplyFn;
|
|
static void *ptermYawFilter;
|
|
|
|
typedef union dtermFilterLpf_u {
|
|
pt1Filter_t pt1Filter[2];
|
|
biquadFilter_t biquadFilter[2];
|
|
firFilterDenoise_t denoisingFilter[2];
|
|
} dtermFilterLpf_t;
|
|
|
|
void pidInitFilters(const pidProfile_t *pidProfile)
|
|
{
|
|
BUILD_BUG_ON(FD_YAW != 2); // only setting up Dterm filters on roll and pitch axes, so ensure yaw axis is 2
|
|
|
|
if (targetPidLooptime == 0) {
|
|
// no looptime set, so set all the filters to null
|
|
dtermNotchFilterApplyFn = nullFilterApply;
|
|
dtermLpfApplyFn = nullFilterApply;
|
|
ptermYawFilterApplyFn = nullFilterApply;
|
|
return;
|
|
}
|
|
|
|
const uint32_t pidFrequencyNyquist = (1.0f / dT) / 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) {
|
|
static biquadFilter_t biquadFilterNotch[2];
|
|
dtermNotchFilterApplyFn = (filterApplyFnPtr)biquadFilterApply;
|
|
const float notchQ = filterGetNotchQ(dTermNotchHz, pidProfile->dterm_notch_cutoff);
|
|
for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) {
|
|
dtermFilterNotch[axis] = &biquadFilterNotch[axis];
|
|
biquadFilterInit(dtermFilterNotch[axis], dTermNotchHz, targetPidLooptime, notchQ, FILTER_NOTCH);
|
|
}
|
|
} else {
|
|
dtermNotchFilterApplyFn = nullFilterApply;
|
|
}
|
|
|
|
static dtermFilterLpf_t dtermFilterLpfUnion;
|
|
if (pidProfile->dterm_lpf_hz == 0 || pidProfile->dterm_lpf_hz > pidFrequencyNyquist) {
|
|
dtermLpfApplyFn = nullFilterApply;
|
|
} else {
|
|
switch (pidProfile->dterm_filter_type) {
|
|
default:
|
|
dtermLpfApplyFn = nullFilterApply;
|
|
break;
|
|
case FILTER_PT1:
|
|
dtermLpfApplyFn = (filterApplyFnPtr)pt1FilterApply;
|
|
for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) {
|
|
dtermFilterLpf[axis] = &dtermFilterLpfUnion.pt1Filter[axis];
|
|
pt1FilterInit(dtermFilterLpf[axis], pidProfile->dterm_lpf_hz, dT);
|
|
}
|
|
break;
|
|
case FILTER_BIQUAD:
|
|
dtermLpfApplyFn = (filterApplyFnPtr)biquadFilterApply;
|
|
for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) {
|
|
dtermFilterLpf[axis] = &dtermFilterLpfUnion.biquadFilter[axis];
|
|
biquadFilterInitLPF(dtermFilterLpf[axis], pidProfile->dterm_lpf_hz, targetPidLooptime);
|
|
}
|
|
break;
|
|
case FILTER_FIR:
|
|
dtermLpfApplyFn = (filterApplyFnPtr)firFilterDenoiseUpdate;
|
|
for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) {
|
|
dtermFilterLpf[axis] = &dtermFilterLpfUnion.denoisingFilter[axis];
|
|
firFilterDenoiseInit(dtermFilterLpf[axis], pidProfile->dterm_lpf_hz, targetPidLooptime);
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|
|
static pt1Filter_t pt1FilterYaw;
|
|
if (pidProfile->yaw_lpf_hz == 0 || pidProfile->yaw_lpf_hz > pidFrequencyNyquist) {
|
|
ptermYawFilterApplyFn = nullFilterApply;
|
|
} else {
|
|
ptermYawFilterApplyFn = (filterApplyFnPtr)pt1FilterApply;
|
|
ptermYawFilter = &pt1FilterYaw;
|
|
pt1FilterInit(ptermYawFilter, pidProfile->yaw_lpf_hz, dT);
|
|
}
|
|
}
|
|
|
|
static float Kp[3], Ki[3], Kd[3];
|
|
static float maxVelocity[3];
|
|
static float relaxFactor;
|
|
static float dtermSetpointWeight;
|
|
static float levelGain, horizonGain, horizonTransition, horizonCutoffDegrees, horizonFactorRatio;
|
|
static float ITermWindupPointInv;
|
|
static uint8_t horizonTiltExpertMode;
|
|
static timeDelta_t crashTimeLimitUs;
|
|
static timeDelta_t crashTimeDelayUs;
|
|
static int32_t crashRecoveryAngleDeciDegrees;
|
|
static float crashRecoveryRate;
|
|
static float crashDtermThreshold;
|
|
static float crashGyroThreshold;
|
|
static float crashSetpointThreshold;
|
|
static float crashLimitYaw;
|
|
static float itermLimit;
|
|
|
|
void pidInitConfig(const pidProfile_t *pidProfile)
|
|
{
|
|
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
|
|
Kp[axis] = PTERM_SCALE * pidProfile->pid[axis].P;
|
|
Ki[axis] = ITERM_SCALE * pidProfile->pid[axis].I;
|
|
Kd[axis] = DTERM_SCALE * pidProfile->pid[axis].D;
|
|
}
|
|
dtermSetpointWeight = pidProfile->dtermSetpointWeight / 127.0f;
|
|
relaxFactor = 1.0f / (pidProfile->setpointRelaxRatio / 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;
|
|
const float ITermWindupPoint = (float)pidProfile->itermWindupPointPercent / 100.0f;
|
|
ITermWindupPointInv = 1.0f / (1.0f - ITermWindupPoint);
|
|
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;
|
|
}
|
|
|
|
void pidInit(const pidProfile_t *pidProfile)
|
|
{
|
|
pidSetTargetLooptime(gyro.targetLooptime * pidConfig()->pid_process_denom); // Initialize pid looptime
|
|
pidInitFilters(pidProfile);
|
|
pidInitConfig(pidProfile);
|
|
pidInitMixer(pidProfile);
|
|
}
|
|
|
|
|
|
void pidCopyProfile(uint8_t dstPidProfileIndex, uint8_t srcPidProfileIndex)
|
|
{
|
|
if ((dstPidProfileIndex < MAX_PROFILE_COUNT-1 && srcPidProfileIndex < MAX_PROFILE_COUNT-1)
|
|
&& dstPidProfileIndex != srcPidProfileIndex
|
|
) {
|
|
memcpy(pidProfilesMutable(dstPidProfileIndex), pidProfilesMutable(srcPidProfileIndex), sizeof(pidProfile_t));
|
|
}
|
|
}
|
|
|
|
// calculates strength of horizon leveling; 0 = none, 1.0 = most leveling
|
|
static 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 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 GPS
|
|
angle += GPS_angle[axis];
|
|
#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)) {
|
|
// 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 float accelerationLimit(int axis, float currentPidSetpoint)
|
|
{
|
|
static float previousSetpoint[3];
|
|
const float currentVelocity = currentPidSetpoint- previousSetpoint[axis];
|
|
|
|
if (ABS(currentVelocity) > maxVelocity[axis]) {
|
|
currentPidSetpoint = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity[axis] : previousSetpoint[axis] - maxVelocity[axis];
|
|
}
|
|
|
|
previousSetpoint[axis] = currentPidSetpoint;
|
|
return currentPidSetpoint;
|
|
}
|
|
|
|
// 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 pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, timeUs_t currentTimeUs)
|
|
{
|
|
static float previousRateError[2];
|
|
const float tpaFactor = getThrottlePIDAttenuation();
|
|
const float motorMixRange = getMotorMixRange();
|
|
static bool inCrashRecoveryMode = false;
|
|
static timeUs_t crashDetectedAtUs;
|
|
|
|
// Dynamic ki component to gradually scale back integration when above windup point
|
|
const float dynKi = MIN((1.0f - motorMixRange) * ITermWindupPointInv, 1.0f);
|
|
|
|
// ----------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 ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
|
|
currentPidSetpoint = pidLevel(axis, pidProfile, angleTrim, currentPidSetpoint);
|
|
}
|
|
|
|
// -----calculate error rate
|
|
const float gyroRate = gyro.gyroADCf[axis]; // Process variable from gyro output in deg/sec
|
|
float errorRate = currentPidSetpoint - gyroRate; // r - y
|
|
|
|
if (inCrashRecoveryMode && cmpTimeUs(currentTimeUs, crashDetectedAtUs) > crashTimeDelayUs) {
|
|
if (pidProfile->crash_recovery == PID_CRASH_RECOVERY_BEEP) {
|
|
BEEP_ON;
|
|
}
|
|
if (axis == FD_YAW) {
|
|
// on yaw axis, prevent "yaw spin to the moon" after crash by constraining errorRate
|
|
#if !(defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_ICM20649))
|
|
#define GYRO_POTENTIAL_OVERFLOW_RATE 1990.0f
|
|
if (gyroRate > GYRO_POTENTIAL_OVERFLOW_RATE || gyroRate < -GYRO_POTENTIAL_OVERFLOW_RATE) {
|
|
// ICM gyros are specified to +/- 2000 deg/sec, in a crash they can go out of spec.
|
|
// This can cause an overflow and sign reversal in the output.
|
|
// Overflow and sign reversal seems to result in a gyro value of +1996 or -1996.
|
|
// If there is a sign reversal we will actually increase crash-induced yaw spin
|
|
// so best thing to do is set error to zero.
|
|
errorRate = 0.0f;
|
|
} else
|
|
#endif
|
|
{
|
|
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
|
|
axisPID_I[axis] = 0.0f;
|
|
if (cmpTimeUs(currentTimeUs, crashDetectedAtUs) > crashTimeLimitUs
|
|
|| (motorMixRange < 1.0f
|
|
&& ABS(gyro.gyroADCf[FD_ROLL]) < crashRecoveryRate
|
|
&& ABS(gyro.gyroADCf[FD_PITCH]) < crashRecoveryRate
|
|
&& ABS(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;
|
|
}
|
|
}
|
|
}
|
|
|
|
// --------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 (dtermSetpointWeight) can be tuned (amount derivative on measurement or error).
|
|
|
|
// -----calculate P component and add Dynamic Part based on stick input
|
|
axisPID_P[axis] = Kp[axis] * errorRate * tpaFactor;
|
|
if (axis == FD_YAW) {
|
|
axisPID_P[axis] = ptermYawFilterApplyFn(ptermYawFilter, axisPID_P[axis]);
|
|
}
|
|
|
|
// -----calculate I component
|
|
const float ITerm = axisPID_I[axis];
|
|
const float ITermNew = constrainf(ITerm + Ki[axis] * errorRate * dT * dynKi * itermAccelerator, -itermLimit, itermLimit);
|
|
const bool outputSaturated = mixerIsOutputSaturated(axis, errorRate);
|
|
if (outputSaturated == false || ABS(ITermNew) < ABS(ITerm)) {
|
|
// Only increase ITerm if output is not saturated
|
|
axisPID_I[axis] = ITermNew;
|
|
}
|
|
|
|
// -----calculate D component
|
|
if (axis != FD_YAW) {
|
|
// apply filters
|
|
float gyroRateFiltered = dtermNotchFilterApplyFn(dtermFilterNotch[axis], gyroRate);
|
|
gyroRateFiltered = dtermLpfApplyFn(dtermFilterLpf[axis], gyroRateFiltered);
|
|
|
|
float dynC = 0;
|
|
if ( (pidProfile->dtermSetpointWeight > 0) && (!flightModeFlags) ) {
|
|
dynC = dtermSetpointWeight * MIN(getRcDeflectionAbs(axis) * relaxFactor, 1.0f);
|
|
}
|
|
const float rD = dynC * currentPidSetpoint - gyroRateFiltered; // cr - y
|
|
// Divide rate change by dT to get differential (ie dr/dt)
|
|
float delta = (rD - previousRateError[axis]) / dT;
|
|
|
|
previousRateError[axis] = rD;
|
|
|
|
// if crash recovery is on and accelerometer enabled then check for a crash
|
|
if (pidProfile->crash_recovery && ARMING_FLAG(ARMED)) {
|
|
if (motorMixRange >= 1.0f && inCrashRecoveryMode == false
|
|
&& ABS(delta) > crashDtermThreshold
|
|
&& ABS(errorRate) > crashGyroThreshold
|
|
&& ABS(getSetpointRate(axis)) < crashSetpointThreshold) {
|
|
inCrashRecoveryMode = true;
|
|
crashDetectedAtUs = currentTimeUs;
|
|
}
|
|
if (cmpTimeUs(currentTimeUs, crashDetectedAtUs) < crashTimeDelayUs && (ABS(errorRate) < crashGyroThreshold
|
|
|| ABS(getSetpointRate(axis)) > crashSetpointThreshold)) {
|
|
inCrashRecoveryMode = false;
|
|
}
|
|
}
|
|
|
|
axisPID_D[axis] = Kd[axis] * delta * tpaFactor;
|
|
}
|
|
|
|
// Disable PID control at zero throttle
|
|
if (!pidStabilisationEnabled) {
|
|
axisPID_P[axis] = 0;
|
|
axisPID_I[axis] = 0;
|
|
axisPID_D[axis] = 0;
|
|
}
|
|
}
|
|
}
|