mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-24 16:55:36 +03:00
e16ef1db4f
raise dc offset immediately Add airmode noise fix no filter when inactive and slightly more throttle hpf throttle to avoid large moves increasing throttle persistently fix ws fix ununsed variable and default to off include airmode throttle offset in loggingThrottle
243 lines
11 KiB
C
243 lines
11 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the 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 this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <stdbool.h>
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#include "common/time.h"
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#include "common/filter.h"
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#include "common/axis.h"
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#include "pg/pg.h"
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#define MAX_PID_PROCESS_DENOM 16
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#define PID_CONTROLLER_BETAFLIGHT 1
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#define PID_MIXER_SCALING 1000.0f
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#define PID_SERVO_MIXER_SCALING 0.7f
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#define PIDSUM_LIMIT 500
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#define PIDSUM_LIMIT_YAW 400
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#define PIDSUM_LIMIT_MIN 100
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#define PIDSUM_LIMIT_MAX 1000
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// Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float
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#define PTERM_SCALE 0.032029f
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#define ITERM_SCALE 0.244381f
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#define DTERM_SCALE 0.000529f
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// The constant scale factor to replace the Kd component of the feedforward calculation.
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// This value gives the same "feel" as the previous Kd default of 26 (26 * DTERM_SCALE)
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#define FEEDFORWARD_SCALE 0.013754f
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#define ITERM_RELAX_SETPOINT_THRESHOLD 30.0f
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typedef enum {
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PID_ROLL,
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PID_PITCH,
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PID_YAW,
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PID_LEVEL,
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PID_MAG,
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PID_ITEM_COUNT
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} pidIndex_e;
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typedef enum {
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SUPEREXPO_YAW_OFF = 0,
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SUPEREXPO_YAW_ON,
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SUPEREXPO_YAW_ALWAYS
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} pidSuperExpoYaw_e;
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typedef enum {
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PID_STABILISATION_OFF = 0,
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PID_STABILISATION_ON
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} pidStabilisationState_e;
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typedef enum {
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PID_CRASH_RECOVERY_OFF = 0,
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PID_CRASH_RECOVERY_ON,
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PID_CRASH_RECOVERY_BEEP
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} pidCrashRecovery_e;
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typedef struct pidf_s {
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uint8_t P;
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uint8_t I;
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uint8_t D;
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uint16_t F;
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} pidf_t;
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typedef enum {
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ANTI_GRAVITY_SMOOTH,
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ANTI_GRAVITY_STEP
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} antiGravityMode_e;
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typedef enum {
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ITERM_RELAX_OFF,
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ITERM_RELAX_RP,
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ITERM_RELAX_RPY,
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ITERM_RELAX_RP_INC,
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ITERM_RELAX_RPY_INC
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} itermRelax_e;
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typedef enum {
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ITERM_RELAX_GYRO,
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ITERM_RELAX_SETPOINT
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} itermRelaxType_e;
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typedef struct pidProfile_s {
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uint16_t yaw_lowpass_hz; // Additional yaw filter when yaw axis too noisy
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uint16_t dterm_lowpass_hz; // Delta Filter in hz
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uint16_t dterm_notch_hz; // Biquad dterm notch hz
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uint16_t dterm_notch_cutoff; // Biquad dterm notch low cutoff
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pidf_t pid[PID_ITEM_COUNT];
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uint8_t dterm_filter_type; // Filter selection for dterm
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uint8_t itermWindupPointPercent; // iterm windup threshold, percent motor saturation
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uint16_t pidSumLimit;
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uint16_t pidSumLimitYaw;
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uint8_t pidAtMinThrottle; // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
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uint8_t levelAngleLimit; // Max angle in degrees in level mode
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uint8_t horizon_tilt_effect; // inclination factor for Horizon mode
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uint8_t horizon_tilt_expert_mode; // OFF or ON
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// Betaflight PID controller parameters
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uint8_t antiGravityMode; // type of anti gravity method
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uint16_t itermThrottleThreshold; // max allowed throttle delta before iterm accelerated in ms
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uint16_t itermAcceleratorGain; // Iterm Accelerator Gain when itermThrottlethreshold is hit
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uint16_t yawRateAccelLimit; // yaw accel limiter for deg/sec/ms
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uint16_t rateAccelLimit; // accel limiter roll/pitch deg/sec/ms
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uint16_t crash_dthreshold; // dterm crash value
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uint16_t crash_gthreshold; // gyro crash value
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uint16_t crash_setpoint_threshold; // setpoint must be below this value to detect crash, so flips and rolls are not interpreted as crashes
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uint16_t crash_time; // ms
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uint16_t crash_delay; // ms
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uint8_t crash_recovery_angle; // degrees
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uint8_t crash_recovery_rate; // degree/second
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uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage
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uint8_t feedForwardTransition; // Feed forward weight transition
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uint16_t crash_limit_yaw; // limits yaw errorRate, so crashes don't cause huge throttle increase
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uint16_t itermLimit;
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uint16_t dterm_lowpass2_hz; // Extra PT1 Filter on D in hz
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uint8_t crash_recovery; // off, on, on and beeps when it is in crash recovery mode
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uint8_t throttle_boost; // how much should throttle be boosted during transient changes 0-100, 100 adds 10x hpf filtered throttle
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uint8_t throttle_boost_cutoff; // Which cutoff frequency to use for throttle boost. higher cutoffs keep the boost on for shorter. Specified in hz.
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uint8_t iterm_rotation; // rotates iterm to translate world errors to local coordinate system
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uint8_t smart_feedforward; // takes only the larger of P and the D weight feed forward term if they have the same sign.
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uint8_t iterm_relax_type; // Specifies type of relax algorithm
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uint8_t iterm_relax_cutoff; // This cutoff frequency specifies a low pass filter which predicts average response of the quad to setpoint
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uint8_t iterm_relax; // Enable iterm suppression during stick input
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uint8_t acro_trainer_angle_limit; // Acro trainer roll/pitch angle limit in degrees
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uint8_t acro_trainer_debug_axis; // The axis for which record debugging values are captured 0=roll, 1=pitch
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uint8_t acro_trainer_gain; // The strength of the limiting. Raising may reduce overshoot but also lead to oscillation around the angle limit
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uint16_t acro_trainer_lookahead_ms; // The lookahead window in milliseconds used to reduce overshoot
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uint8_t abs_control_gain; // How strongly should the absolute accumulated error be corrected for
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uint8_t abs_control_limit; // Limit to the correction
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uint8_t abs_control_error_limit; // Limit to the accumulated error
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uint8_t abs_control_cutoff; // Cutoff frequency for path estimation in abs control
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uint8_t dterm_filter2_type; // Filter selection for 2nd dterm
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uint16_t dyn_lpf_dterm_min_hz;
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uint16_t dyn_lpf_dterm_max_hz;
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uint8_t launchControlMode; // Whether launch control is limited to pitch only (launch stand or top-mount) or all axes (on battery)
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uint8_t launchControlThrottlePercent; // Throttle percentage to trigger launch for launch control
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uint8_t launchControlAngleLimit; // Optional launch control angle limit (requires ACC)
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uint8_t launchControlGain; // Iterm gain used while launch control is active
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uint8_t launchControlAllowTriggerReset; // Controls trigger behavior and whether the trigger can be reset
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uint8_t use_integrated_yaw; // Selects whether the yaw pidsum should integrated
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uint8_t integrated_yaw_relax; // Specifies how much integrated yaw should be reduced to offset the drag based yaw component
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uint8_t thrustLinearization; // Compensation factor for pid linearization
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uint8_t d_min[XYZ_AXIS_COUNT]; // Minimum D value on each axis
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uint8_t d_min_gain; // Gain factor for amount of gyro / setpoint activity required to boost D
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uint8_t d_min_advance; // Percentage multiplier for setpoint input to boost algorithm
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uint8_t motor_output_limit; // Upper limit of the motor output (percent)
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int8_t auto_profile_cell_count; // Cell count for this profile to be used with if auto PID profile switching is used
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uint8_t transient_throttle_limit; // Maximum DC component of throttle change to mix into throttle to prevent airmode mirroring noise
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} pidProfile_t;
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PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);
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typedef struct pidConfig_s {
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uint8_t pid_process_denom; // Processing denominator for PID controller vs gyro sampling rate
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uint8_t runaway_takeoff_prevention; // off, on - enables pidsum runaway disarm logic
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uint16_t runaway_takeoff_deactivate_delay; // delay in ms for "in-flight" conditions before deactivation (successful flight)
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uint8_t runaway_takeoff_deactivate_throttle; // minimum throttle percent required during deactivation phase
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} pidConfig_t;
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PG_DECLARE(pidConfig_t, pidConfig);
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union rollAndPitchTrims_u;
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void pidController(const pidProfile_t *pidProfile, timeUs_t currentTimeUs);
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typedef struct pidAxisData_s {
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float P;
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float I;
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float D;
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float F;
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float Sum;
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} pidAxisData_t;
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extern const char pidNames[];
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extern pidAxisData_t pidData[3];
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extern uint32_t targetPidLooptime;
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extern float throttleBoost;
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extern pt1Filter_t throttleLpf;
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void pidResetIterm(void);
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void pidStabilisationState(pidStabilisationState_e pidControllerState);
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void pidSetItermAccelerator(float newItermAccelerator);
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void pidInitFilters(const pidProfile_t *pidProfile);
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void pidInitConfig(const pidProfile_t *pidProfile);
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void pidInit(const pidProfile_t *pidProfile);
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void pidCopyProfile(uint8_t dstPidProfileIndex, uint8_t srcPidProfileIndex);
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bool crashRecoveryModeActive(void);
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void pidAcroTrainerInit(void);
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void pidSetAcroTrainerState(bool newState);
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void pidInitSetpointDerivativeLpf(uint16_t filterCutoff, uint8_t debugAxis, uint8_t filterType);
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void pidUpdateSetpointDerivativeLpf(uint16_t filterCutoff);
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void pidUpdateAntiGravityThrottleFilter(float throttle);
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bool pidOsdAntiGravityActive(void);
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bool pidOsdAntiGravityMode(void);
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void pidSetAntiGravityState(bool newState);
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bool pidAntiGravityEnabled(void);
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#ifdef USE_THRUST_LINEARIZATION
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float pidApplyThrustLinearization(float motorValue);
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float pidCompensateThrustLinearization(float throttle);
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#endif
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#ifdef USE_AIRMODE_LPF
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void pidUpdateAirmodeLpf(float currentOffset);
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float pidGetAirmodeThrottleOffset();
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#endif
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#ifdef UNIT_TEST
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#include "sensors/acceleration.h"
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extern float axisError[XYZ_AXIS_COUNT];
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void applyItermRelax(const int axis, const float iterm,
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const float gyroRate, float *itermErrorRate, float *currentPidSetpoint);
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void applyAbsoluteControl(const int axis, const float gyroRate, float *currentPidSetpoint, float *itermErrorRate);
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void rotateItermAndAxisError();
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float pidLevel(int axis, const pidProfile_t *pidProfile,
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const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint);
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float calcHorizonLevelStrength(void);
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#endif
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void dynLpfDTermUpdate(float throttle);
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void pidSetItermReset(bool enabled);
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float pidGetPreviousSetpoint(int axis);
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