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betaflight/src/main/flight/pid.c
Štěpán Dalecký f85ebba6a4 Refactoring of IMU and ACC
2022-06-28 18:26:10 +02:00

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/*
* 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 "config/config_reset.h"
#include "config/simplified_tuning.h"
#include "drivers/pwm_output.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 "flight/rpm_filter.h"
#include "flight/feedforward.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 "pid.h"
typedef enum {
LEVEL_MODE_OFF = 0,
LEVEL_MODE_R,
LEVEL_MODE_RP,
} levelMode_e;
const char pidNames[] =
"ROLL;"
"PITCH;"
"YAW;"
"LEVEL;"
"MAG;";
FAST_DATA_ZERO_INIT uint32_t targetPidLooptime;
FAST_DATA_ZERO_INIT pidAxisData_t pidData[XYZ_AXIS_COUNT];
FAST_DATA_ZERO_INIT pidRuntime_t pidRuntime;
#if defined(USE_ABSOLUTE_CONTROL)
STATIC_UNIT_TESTED FAST_DATA_ZERO_INIT float axisError[XYZ_AXIS_COUNT];
#endif
#if defined(USE_THROTTLE_BOOST)
FAST_DATA_ZERO_INIT float throttleBoost;
pt1Filter_t throttleLpf;
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 3);
#if defined(STM32F411xE)
#define PID_PROCESS_DENOM_DEFAULT 2
#else
#define PID_PROCESS_DENOM_DEFAULT 1
#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 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, 3);
void resetPidProfile(pidProfile_t *pidProfile)
{
RESET_CONFIG(pidProfile_t, pidProfile,
.pid = {
[PID_ROLL] = PID_ROLL_DEFAULT,
[PID_PITCH] = PID_PITCH_DEFAULT,
[PID_YAW] = PID_YAW_DEFAULT,
[PID_LEVEL] = { 50, 50, 75, 0 },
[PID_MAG] = { 40, 0, 0, 0 },
},
.pidSumLimit = PIDSUM_LIMIT,
.pidSumLimitYaw = PIDSUM_LIMIT_YAW,
.yaw_lowpass_hz = 100,
.dterm_notch_hz = 0,
.dterm_notch_cutoff = 0,
.itermWindupPointPercent = 85,
.pidAtMinThrottle = PID_STABILISATION_ON,
.levelAngleLimit = 55,
.feedforward_transition = 0,
.yawRateAccelLimit = 0,
.rateAccelLimit = 0,
.itermThrottleThreshold = 250,
.itermAcceleratorGain = 3500,
.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 = false,
.iterm_relax = ITERM_RELAX_RP,
.iterm_relax_cutoff = ITERM_RELAX_CUTOFF_DEFAULT,
.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_lpf1_static_hz = DTERM_LPF1_DYN_MIN_HZ_DEFAULT,
// NOTE: dynamic lpf is enabled by default so this setting is actually
// overridden and the static lowpass 1 is disabled. We can't set this
// value to 0 otherwise Configurator versions 10.4 and earlier will also
// reset the lowpass filter type to PT1 overriding the desired BIQUAD setting.
.dterm_lpf2_static_hz = DTERM_LPF2_HZ_DEFAULT, // second Dterm LPF ON by default
.dterm_lpf1_type = FILTER_PT1,
.dterm_lpf2_type = FILTER_PT1,
.dterm_lpf1_dyn_min_hz = DTERM_LPF1_DYN_MIN_HZ_DEFAULT,
.dterm_lpf1_dyn_max_hz = DTERM_LPF1_DYN_MAX_HZ_DEFAULT,
.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 = D_MIN_DEFAULT,
.d_min_gain = 37,
.d_min_advance = 20,
.motor_output_limit = 100,
.auto_profile_cell_count = AUTO_PROFILE_CELL_COUNT_STAY,
.transient_throttle_limit = 0,
.profileName = { 0 },
.dyn_idle_min_rpm = 0,
.dyn_idle_p_gain = 50,
.dyn_idle_i_gain = 50,
.dyn_idle_d_gain = 50,
.dyn_idle_max_increase = 150,
.feedforward_averaging = FEEDFORWARD_AVERAGING_OFF,
.feedforward_max_rate_limit = 90,
.feedforward_smooth_factor = 25,
.feedforward_jitter_factor = 7,
.feedforward_boost = 15,
.dterm_lpf1_dyn_expo = 5,
.level_race_mode = false,
.vbat_sag_compensation = 0,
.simplified_pids_mode = PID_SIMPLIFIED_TUNING_RPY,
.simplified_master_multiplier = SIMPLIFIED_TUNING_DEFAULT,
.simplified_roll_pitch_ratio = SIMPLIFIED_TUNING_DEFAULT,
.simplified_i_gain = SIMPLIFIED_TUNING_DEFAULT,
.simplified_d_gain = SIMPLIFIED_TUNING_D_DEFAULT,
.simplified_pi_gain = SIMPLIFIED_TUNING_DEFAULT,
.simplified_dmin_ratio = SIMPLIFIED_TUNING_D_DEFAULT,
.simplified_feedforward_gain = SIMPLIFIED_TUNING_DEFAULT,
.simplified_pitch_pi_gain = SIMPLIFIED_TUNING_DEFAULT,
.simplified_dterm_filter = true,
.simplified_dterm_filter_multiplier = SIMPLIFIED_TUNING_DEFAULT,
);
#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]);
}
}
// Scale factors to make best use of range with D_LPF debugging, aiming for max +/-16K as debug values are 16 bit
#define D_LPF_RAW_SCALE 25
#define D_LPF_FILT_SCALE 22
void pidSetItermAccelerator(float newItermAccelerator)
{
pidRuntime.itermAccelerator = newItermAccelerator;
}
bool pidOsdAntiGravityActive(void)
{
return (pidRuntime.itermAccelerator > pidRuntime.antiGravityOsdCutoff);
}
void pidStabilisationState(pidStabilisationState_e pidControllerState)
{
pidRuntime.pidStabilisationEnabled = (pidControllerState == PID_STABILISATION_ON) ? true : false;
}
const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
#ifdef USE_FEEDFORWARD
float pidGetFeedforwardTransitionFactor()
{
return pidRuntime.feedforwardTransitionFactor;
}
float pidGetFeedforwardSmoothFactor()
{
return pidRuntime.feedforwardSmoothFactor;
}
float pidGetFeedforwardJitterFactor()
{
return pidRuntime.feedforwardJitterFactor;
}
float pidGetFeedforwardBoostFactor()
{
return pidRuntime.feedforwardBoostFactor;
}
#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
}
}
void pidUpdateTpaFactor(float throttle)
{
const float tpaBreakpoint = (currentControlRateProfile->tpa_breakpoint - 1000) / 1000.0f;
float tpaRate = currentControlRateProfile->tpa_rate / 100.0f;
if (throttle > tpaBreakpoint) {
if (throttle < 1.0f) {
tpaRate *= (throttle - tpaBreakpoint) / (1.0f - tpaBreakpoint);
}
} else {
tpaRate = 0.0f;
}
pidRuntime.tpaFactor = 1.0f - tpaRate;
}
void pidUpdateAntiGravityThrottleFilter(float throttle)
{
if (pidRuntime.antiGravityMode == ANTI_GRAVITY_SMOOTH) {
// calculate a boost factor for P in the same way as for I when throttle changes quickly
const float antiGravityThrottleLpf = pt1FilterApply(&pidRuntime.antiGravityThrottleLpf, throttle);
// focus P boost on low throttle range only
if (throttle < 0.5f) {
pidRuntime.antiGravityPBoost = 0.5f - throttle;
} else {
pidRuntime.antiGravityPBoost = 0.0f;
}
// use lowpass to identify start of a throttle up, use this to reduce boost at start by half
if (antiGravityThrottleLpf < throttle) {
pidRuntime.antiGravityPBoost *= 0.5f;
}
// high-passed throttle focuses boost on faster throttle changes
pidRuntime.antiGravityThrottleHpf = fabsf(throttle - antiGravityThrottleLpf);
pidRuntime.antiGravityPBoost = pidRuntime.antiGravityPBoost * pidRuntime.antiGravityThrottleHpf;
// smooth the P boost at 3hz to remove the jagged edges and prolong the effect after throttle stops
pidRuntime.antiGravityPBoost = pt1FilterApply(&pidRuntime.antiGravitySmoothLpf, pidRuntime.antiGravityPBoost);
}
}
#ifdef USE_ACRO_TRAINER
void pidAcroTrainerInit(void)
{
pidRuntime.acroTrainerAxisState[FD_ROLL] = 0;
pidRuntime.acroTrainerAxisState[FD_PITCH] = 0;
}
#endif // USE_ACRO_TRAINER
#ifdef USE_THRUST_LINEARIZATION
float pidCompensateThrustLinearization(float throttle)
{
if (pidRuntime.thrustLinearization != 0.0f) {
// for whoops where a lot of TL is needed, allow more throttle boost
const float throttleReversed = (1.0f - throttle);
throttle /= 1.0f + pidRuntime.throttleCompensateAmount * sq(throttleReversed);
}
return throttle;
}
float pidApplyThrustLinearization(float motorOutput)
{
if (pidRuntime.thrustLinearization != 0.0f) {
if (motorOutput > 0.0f) {
const float motorOutputReversed = (1.0f - motorOutput);
motorOutput *= 1.0f + sq(motorOutputReversed) * pidRuntime.thrustLinearization;
}
}
return motorOutput;
}
#endif
#if defined(USE_ACC)
// calculate the stick deflection while applying level mode expo
static float getLevelModeRcDeflection(uint8_t axis)
{
const float stickDeflection = getRcDeflection(axis);
if (axis < FD_YAW) {
const float expof = currentControlRateProfile->levelExpo[axis] / 100.0f;
return power3(stickDeflection) * expof + stickDeflection * (1 - expof);
} else {
return stickDeflection;
}
}
// calculates strength of horizon leveling; 0 = none, 1.0 = most leveling
STATIC_UNIT_TESTED FAST_CODE_NOINLINE float calcHorizonLevelStrength()
{
// start with 1.0 at center stick, 0.0 at max stick deflection:
float horizonLevelStrength = 1.0f - MAX(fabsf(getLevelModeRcDeflection(FD_ROLL)), fabsf(getLevelModeRcDeflection(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 (pidRuntime.horizonTiltExpertMode) {
if (pidRuntime.horizonTransition > 0 && pidRuntime.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((pidRuntime.horizonCutoffDegrees-currentInclination) / pidRuntime.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 / pidRuntime.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 (pidRuntime.horizonFactorRatio < 1.0f) { // 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 - pidRuntime.horizonFactorRatio) + pidRuntime.horizonFactorRatio;
// apply ratio to configured horizon sensitivity:
sensitFact = pidRuntime.horizonTransition * inclinationLevelRatio;
} else { // horizonTiltEffect=0 for "old" functionality
sensitFact = pidRuntime.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);
}
// Use the FAST_CODE_NOINLINE directive to avoid this code from being inlined into ITCM RAM to avoid overflow.
// The impact is possibly slightly slower performance on F7/H7 but they have more than enough
// processing power that it should be a non-issue.
STATIC_UNIT_TESTED FAST_CODE_NOINLINE float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim,
float currentPidSetpoint, float horizonLevelStrength) {
const float levelAngleLimit = pidProfile->levelAngleLimit;
// calculate error angle and limit the angle to the max inclination
// rcDeflection is in range [-1.0, 1.0]
float angle = levelAngleLimit * getLevelModeRcDeflection(axis);
#ifdef USE_GPS_RESCUE
angle += gpsRescueAngle[axis] / 100; // ANGLE IS IN CENTIDEGREES
#endif
angle = constrainf(angle, -levelAngleLimit, 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
const float setpointCorrection = errorAngle * pidRuntime.levelGain;
currentPidSetpoint = pt3FilterApply(&pidRuntime.attitudeFilter[axis], setpointCorrection);
} else {
// HORIZON mode - mix of ANGLE and ACRO modes
// mix in errorAngle to currentPidSetpoint to add a little auto-level feel
const float setpointCorrection = errorAngle * pidRuntime.horizonGain * horizonLevelStrength;
currentPidSetpoint += pt3FilterApply(&pidRuntime.attitudeFilter[axis], setpointCorrection);
}
return currentPidSetpoint;
}
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 (pidRuntime.inCrashRecoveryMode && cmpTimeUs(currentTimeUs, pidRuntime.crashDetectedAtUs) > pidRuntime.crashTimeDelayUs) {
if (crash_recovery == PID_CRASH_RECOVERY_BEEP) {
BEEP_ON;
}
if (axis == FD_YAW) {
*errorRate = constrainf(*errorRate, -pidRuntime.crashLimitYaw, pidRuntime.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 * pidRuntime.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, pidRuntime.crashDetectedAtUs) > pidRuntime.crashTimeLimitUs
|| (getMotorMixRange() < 1.0f
&& fabsf(gyro.gyroADCf[FD_ROLL]) < pidRuntime.crashRecoveryRate
&& fabsf(gyro.gyroADCf[FD_PITCH]) < pidRuntime.crashRecoveryRate
&& fabsf(gyro.gyroADCf[FD_YAW]) < pidRuntime.crashRecoveryRate)) {
if (sensors(SENSOR_ACC)) {
// check aircraft nearly level
if (ABS(attitude.raw[FD_ROLL] - angleTrim->raw[FD_ROLL]) < pidRuntime.crashRecoveryAngleDeciDegrees
&& ABS(attitude.raw[FD_PITCH] - angleTrim->raw[FD_PITCH]) < pidRuntime.crashRecoveryAngleDeciDegrees) {
pidRuntime.inCrashRecoveryMode = false;
BEEP_OFF;
}
} else {
pidRuntime.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 && !pidRuntime.inCrashRecoveryMode
&& fabsf(delta) > pidRuntime.crashDtermThreshold
&& fabsf(errorRate) > pidRuntime.crashGyroThreshold
&& fabsf(getSetpointRate(axis)) < pidRuntime.crashSetpointThreshold) {
if (crash_recovery == PID_CRASH_RECOVERY_DISARM) {
setArmingDisabled(ARMING_DISABLED_CRASH_DETECTED);
disarm(DISARM_REASON_CRASH_PROTECTION);
} else {
pidRuntime.inCrashRecoveryMode = true;
pidRuntime.crashDetectedAtUs = currentTimeUs;
}
}
if (pidRuntime.inCrashRecoveryMode && cmpTimeUs(currentTimeUs, pidRuntime.crashDetectedAtUs) < pidRuntime.crashTimeDelayUs && (fabsf(errorRate) < pidRuntime.crashGyroThreshold
|| fabsf(getSetpointRate(axis)) > pidRuntime.crashSetpointThreshold)) {
pidRuntime.inCrashRecoveryMode = false;
BEEP_OFF;
}
} else if (pidRuntime.inCrashRecoveryMode) {
pidRuntime.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 ((pidRuntime.acroTrainerAxisState[axis] != 0) && (pidRuntime.acroTrainerAxisState[axis] != setpointSign)) { // stick has reversed - stop limiting
pidRuntime.acroTrainerAxisState[axis] = 0;
}
// Limit and correct the angle when it exceeds the limit
if ((fabsf(currentAngle) > pidRuntime.acroTrainerAngleLimit) && (pidRuntime.acroTrainerAxisState[axis] == 0)) {
if (angleSign == setpointSign) {
pidRuntime.acroTrainerAxisState[axis] = angleSign;
resetIterm = true;
}
}
if (pidRuntime.acroTrainerAxisState[axis] != 0) {
ret = constrainf(((pidRuntime.acroTrainerAngleLimit * angleSign) - currentAngle) * pidRuntime.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) * pidRuntime.acroTrainerLookaheadTime;
projectedAngle = (gyro.gyroADCf[axis] * checkInterval) + currentAngle;
const int projectedAngleSign = acroTrainerSign(projectedAngle);
if ((fabsf(projectedAngle) > pidRuntime.acroTrainerAngleLimit) && (projectedAngleSign == setpointSign)) {
ret = ((pidRuntime.acroTrainerAngleLimit * projectedAngleSign) - projectedAngle) * pidRuntime.acroTrainerGain;
resetIterm = true;
}
}
if (resetIterm) {
pidData[axis].I = 0;
}
if (axis == pidRuntime.acroTrainerDebugAxis) {
DEBUG_SET(DEBUG_ACRO_TRAINER, 0, lrintf(currentAngle * 10.0f));
DEBUG_SET(DEBUG_ACRO_TRAINER, 1, pidRuntime.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) > pidRuntime.maxVelocity[axis]) {
currentPidSetpoint = (currentVelocity > 0) ? previousSetpoint[axis] + pidRuntime.maxVelocity[axis] : previousSetpoint[axis] - pidRuntime.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 (pidRuntime.itermRotation
#if defined(USE_ABSOLUTE_CONTROL)
|| pidRuntime.acGain > 0 || debugMode == DEBUG_AC_ERROR
#endif
) {
const float gyroToAngle = pidRuntime.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 (pidRuntime.acGain > 0 || debugMode == DEBUG_AC_ERROR) {
rotateVector(axisError, rotationRads);
}
#endif
if (pidRuntime.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 applyRcSmoothingFeedforwardFilter(int axis, float pidSetpointDelta)
{
float ret = pidSetpointDelta;
if (axis == pidRuntime.rcSmoothingDebugAxis) {
DEBUG_SET(DEBUG_RC_SMOOTHING, 1, lrintf(pidSetpointDelta * 100.0f));
}
if (pidRuntime.feedforwardLpfInitialized) {
ret = pt3FilterApply(&pidRuntime.feedforwardPt3[axis], pidSetpointDelta);
if (axis == pidRuntime.rcSmoothingDebugAxis) {
DEBUG_SET(DEBUG_RC_SMOOTHING, 2, lrintf(ret * 100.0f));
}
}
return ret;
}
#endif // USE_RC_SMOOTHING_FILTER
#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 (pidRuntime.acGain > 0 || debugMode == DEBUG_AC_ERROR) {
const float setpointLpf = pt1FilterApply(&pidRuntime.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 * pidRuntime.dT) > fabsf(axisError[axis]) ) {
acErrorRate = -axisError[axis] * pidRuntime.pidFrequency;
}
} else {
acErrorRate = (gyroRate > gmaxac ? gmaxac : gminac ) - gyroRate;
}
if (isAirmodeActivated()) {
axisError[axis] = constrainf(axisError[axis] + acErrorRate * pidRuntime.dT,
-pidRuntime.acErrorLimit, pidRuntime.acErrorLimit);
const float acCorrection = constrainf(axisError[axis] * pidRuntime.acGain, -pidRuntime.acLimit, pidRuntime.acLimit);
*currentPidSetpoint += acCorrection;
*itermErrorRate += acCorrection;
DEBUG_SET(DEBUG_AC_CORRECTION, axis, lrintf(acCorrection * 10));
if (axis == FD_ROLL) {
DEBUG_SET(DEBUG_ITERM_RELAX, 3, lrintf(acCorrection * 10));
}
}
DEBUG_SET(DEBUG_AC_ERROR, axis, 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(&pidRuntime.windupLpf[axis], *currentPidSetpoint);
const float setpointHpf = fabsf(*currentPidSetpoint - setpointLpf);
if (pidRuntime.itermRelax) {
if (axis < FD_YAW || pidRuntime.itermRelax == ITERM_RELAX_RPY || pidRuntime.itermRelax == ITERM_RELAX_RPY_INC) {
const float itermRelaxFactor = MAX(0, 1 - setpointHpf / ITERM_RELAX_SETPOINT_THRESHOLD);
const bool isDecreasingI =
((iterm > 0) && (*itermErrorRate < 0)) || ((iterm < 0) && (*itermErrorRate > 0));
if ((pidRuntime.itermRelax >= ITERM_RELAX_RP_INC) && isDecreasingI) {
// Do Nothing, use the precalculed itermErrorRate
} else if (pidRuntime.itermRelaxType == ITERM_RELAX_SETPOINT) {
*itermErrorRate *= itermRelaxFactor;
} else if (pidRuntime.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_AIRMODE_LPF
void pidUpdateAirmodeLpf(float currentOffset)
{
if (pidRuntime.airmodeThrottleOffsetLimit == 0.0f) {
return;
}
float offsetHpf = currentOffset * 2.5f;
offsetHpf = offsetHpf - pt1FilterApply(&pidRuntime.airmodeThrottleLpf2, offsetHpf);
// During high frequency oscillation 2 * currentOffset averages to the offset required to avoid mirroring of the waveform
pt1FilterApply(&pidRuntime.airmodeThrottleLpf1, offsetHpf);
// Bring offset up immediately so the filter only applies to the decline
if (currentOffset * pidRuntime.airmodeThrottleLpf1.state >= 0 && fabsf(currentOffset) > pidRuntime.airmodeThrottleLpf1.state) {
pidRuntime.airmodeThrottleLpf1.state = currentOffset;
}
pidRuntime.airmodeThrottleLpf1.state = constrainf(pidRuntime.airmodeThrottleLpf1.state, -pidRuntime.airmodeThrottleOffsetLimit, pidRuntime.airmodeThrottleOffsetLimit);
}
float pidGetAirmodeThrottleOffset()
{
return pidRuntime.airmodeThrottleLpf1.state;
}
#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
// Use the FAST_CODE_NOINLINE directive to avoid this code from being inlined into ITCM RAM to avoid overflow.
// The impact is possibly slightly slower performance on F7/H7 but they have more than enough
// processing power that it should be a non-issue.
static FAST_CODE_NOINLINE 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) || (pidRuntime.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) && (pidRuntime.launchControlAngleLimit > 0) && (ret > 0)) {
const float currentAngle = (attitude.raw[axis] - angleTrim->raw[axis]) / 10.0f;
if (currentAngle >= pidRuntime.launchControlAngleLimit) {
ret = 0.0f;
} else {
//for the last 10 degrees scale the rate from the current input to 5 dps
const float angleDelta = pidRuntime.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];
static float previousRawGyroRateDterm[XYZ_AXIS_COUNT];
#ifdef USE_TPA_MODE
const float tpaFactorKp = (currentControlRateProfile->tpaMode == TPA_MODE_PD) ? pidRuntime.tpaFactor : 1.0f;
#else
const float tpaFactorKp = pidRuntime.tpaFactor;
#endif
#ifdef USE_YAW_SPIN_RECOVERY
const bool yawSpinActive = gyroYawSpinDetected();
#endif
const bool launchControlActive = isLaunchControlActive();
#if defined(USE_ACC)
static timeUs_t levelModeStartTimeUs = 0;
static bool gpsRescuePreviousState = false;
const rollAndPitchTrims_t *angleTrim = &accelerometerConfig()->accelerometerTrims;
float horizonLevelStrength = 0.0f;
const bool gpsRescueIsActive = FLIGHT_MODE(GPS_RESCUE_MODE);
levelMode_e levelMode;
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE) || gpsRescueIsActive) {
if (pidRuntime.levelRaceMode && !gpsRescueIsActive) {
levelMode = LEVEL_MODE_R;
} else {
levelMode = LEVEL_MODE_RP;
}
// 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 ((levelModeStartTimeUs == 0) || (gpsRescueIsActive && !gpsRescuePreviousState)) {
levelModeStartTimeUs = currentTimeUs;
}
// Calc horizonLevelStrength if needed
if (FLIGHT_MODE(HORIZON_MODE)) {
horizonLevelStrength = calcHorizonLevelStrength();
}
} else {
levelMode = LEVEL_MODE_OFF;
levelModeStartTimeUs = 0;
}
gpsRescuePreviousState = gpsRescueIsActive;
#else
UNUSED(pidProfile);
UNUSED(currentTimeUs);
#endif
// Dynamic i component,
if ((pidRuntime.antiGravityMode == ANTI_GRAVITY_SMOOTH) && pidRuntime.antiGravityEnabled) {
// traditional itermAccelerator factor for iTerm
pidRuntime.itermAccelerator = pidRuntime.antiGravityThrottleHpf * 0.01f * pidRuntime.itermAcceleratorGain;
DEBUG_SET(DEBUG_ANTI_GRAVITY, 1, lrintf(pidRuntime.itermAccelerator * 1000));
// users AG Gain changes P boost
pidRuntime.antiGravityPBoost *= pidRuntime.itermAcceleratorGain;
// add some percentage of that slower, longer acting P boost factor to prolong AG effect on iTerm
pidRuntime.itermAccelerator += pidRuntime.antiGravityPBoost * 0.05f;
// set the final P boost amount
pidRuntime.antiGravityPBoost *= 0.02f;
} else {
pidRuntime.antiGravityPBoost = 0.0f;
}
DEBUG_SET(DEBUG_ANTI_GRAVITY, 0, lrintf(pidRuntime.itermAccelerator * 1000));
const float agGain = pidRuntime.dT * pidRuntime.itermAccelerator * AG_KI;
// gradually scale back integration when above windup point
float dynCi = pidRuntime.dT;
if (pidRuntime.itermWindupPointInv > 1.0f) {
dynCi *= constrainf((1.0f - getMotorMixRange()) * pidRuntime.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];
// -----calculate raw, unfiltered D component
// 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.
previousRawGyroRateDterm[axis] = gyroRateDterm[axis];
// Log the unfiltered D for ROLL and PITCH
if (axis != FD_YAW) {
const float delta = (previousRawGyroRateDterm[axis] - gyroRateDterm[axis]) * pidRuntime.pidFrequency / D_LPF_RAW_SCALE;
DEBUG_SET(DEBUG_D_LPF, axis, lrintf(delta));
}
gyroRateDterm[axis] = pidRuntime.dtermNotchApplyFn((filter_t *) &pidRuntime.dtermNotch[axis], gyroRateDterm[axis]);
gyroRateDterm[axis] = pidRuntime.dtermLowpassApplyFn((filter_t *) &pidRuntime.dtermLowpass[axis], gyroRateDterm[axis]);
gyroRateDterm[axis] = pidRuntime.dtermLowpass2ApplyFn((filter_t *) &pidRuntime.dtermLowpass2[axis], gyroRateDterm[axis]);
}
rotateItermAndAxisError();
#ifdef USE_RPM_FILTER
rpmFilterUpdate();
#endif
#ifdef USE_FEEDFORWARD
const bool newRcFrame = getShouldUpdateFeedforward();
#endif
// ----------PID controller----------
for (int axis = FD_ROLL; axis <= FD_YAW; ++axis) {
float currentPidSetpoint = getSetpointRate(axis);
if (pidRuntime.maxVelocity[axis]) {
currentPidSetpoint = accelerationLimit(axis, currentPidSetpoint);
}
// Yaw control is GYRO based, direct sticks control is applied to rate PID
// When Race Mode is active PITCH control is also GYRO based in level or horizon mode
#if defined(USE_ACC)
if ((levelMode == LEVEL_MODE_R && axis == FD_ROLL)
|| (levelMode == LEVEL_MODE_RP && (axis == FD_ROLL || axis == FD_PITCH)) ) {
currentPidSetpoint = pidLevel(axis, pidProfile, angleTrim, currentPidSetpoint, horizonLevelStrength);
DEBUG_SET(DEBUG_ATTITUDE, axis - FD_ROLL + 2, currentPidSetpoint);
}
#endif
#ifdef USE_ACRO_TRAINER
if ((axis != FD_YAW) && pidRuntime.acroTrainerActive && !pidRuntime.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 previousIterm = pidData[axis].I;
float itermErrorRate = errorRate;
#ifdef USE_ABSOLUTE_CONTROL
const float uncorrectedSetpoint = currentPidSetpoint;
#endif
#if defined(USE_ITERM_RELAX)
if (!launchControlActive && !pidRuntime.inCrashRecoveryMode) {
applyItermRelax(axis, previousIterm, gyroRate, &itermErrorRate, &currentPidSetpoint);
errorRate = currentPidSetpoint - gyroRate;
}
#endif
#ifdef USE_ABSOLUTE_CONTROL
const float setpointCorrection = currentPidSetpoint - uncorrectedSetpoint;
#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 = pidRuntime.pidCoefficient[axis].Kp * errorRate * tpaFactorKp;
if (axis == FD_YAW) {
pidData[axis].P = pidRuntime.ptermYawLowpassApplyFn((filter_t *) &pidRuntime.ptermYawLowpass, pidData[axis].P);
}
// -----calculate I component
float Ki;
float axisDynCi;
#ifdef USE_LAUNCH_CONTROL
// if launch control is active override the iterm gains and apply iterm windup protection to all axes
if (launchControlActive) {
Ki = pidRuntime.launchControlKi;
axisDynCi = dynCi;
} else
#endif
{
Ki = pidRuntime.pidCoefficient[axis].Ki;
axisDynCi = (axis == FD_YAW) ? dynCi : pidRuntime.dT; // only apply windup protection to yaw
}
pidData[axis].I = constrainf(previousIterm + (Ki * axisDynCi + agGain) * itermErrorRate, -pidRuntime.itermLimit, pidRuntime.itermLimit);
// -----calculate pidSetpointDelta
float pidSetpointDelta = 0;
#ifdef USE_FEEDFORWARD
pidSetpointDelta = feedforwardApply(axis, newRcFrame, pidRuntime.feedforwardAveraging);
#endif
pidRuntime.previousPidSetpoint[axis] = currentPidSetpoint;
// -----calculate D component
// disable D if launch control is active
if ((pidRuntime.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]) * pidRuntime.pidFrequency;
float preTpaD = pidRuntime.pidCoefficient[axis].Kd * delta;
#if defined(USE_ACC)
if (cmpTimeUs(currentTimeUs, levelModeStartTimeUs) > CRASH_RECOVERY_DETECTION_DELAY_US) {
detectAndSetCrashRecovery(pidProfile->crash_recovery, axis, currentTimeUs, delta, errorRate);
}
#endif
#if defined(USE_D_MIN)
float dMinFactor = 1.0f;
if (pidRuntime.dMinPercent[axis] > 0) {
float dMinGyroFactor = pt2FilterApply(&pidRuntime.dMinRange[axis], delta);
dMinGyroFactor = fabsf(dMinGyroFactor) * pidRuntime.dMinGyroGain;
const float dMinSetpointFactor = (fabsf(pidSetpointDelta)) * pidRuntime.dMinSetpointGain;
dMinFactor = MAX(dMinGyroFactor, dMinSetpointFactor);
dMinFactor = pidRuntime.dMinPercent[axis] + (1.0f - pidRuntime.dMinPercent[axis]) * dMinFactor;
dMinFactor = pt2FilterApply(&pidRuntime.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(pidRuntime.pidCoefficient[axis].Kd * dMinFactor * 10 / DTERM_SCALE));
} else if (axis == FD_PITCH) {
DEBUG_SET(DEBUG_D_MIN, 3, lrintf(pidRuntime.pidCoefficient[axis].Kd * dMinFactor * 10 / DTERM_SCALE));
}
}
// Apply the dMinFactor
preTpaD *= dMinFactor;
#endif
pidData[axis].D = preTpaD * pidRuntime.tpaFactor;
// Log the value of D pre application of TPA
preTpaD *= D_LPF_FILT_SCALE;
if (axis != FD_YAW) {
DEBUG_SET(DEBUG_D_LPF, axis - FD_ROLL + 2, lrintf(preTpaD));
}
} else {
pidData[axis].D = 0;
if (axis != FD_YAW) {
DEBUG_SET(DEBUG_D_LPF, axis - FD_ROLL + 2, 0);
}
}
previousGyroRateDterm[axis] = gyroRateDterm[axis];
// -----calculate feedforward component
#ifdef USE_ABSOLUTE_CONTROL
// include abs control correction in feedforward
pidSetpointDelta += setpointCorrection - pidRuntime.oldSetpointCorrection[axis];
pidRuntime.oldSetpointCorrection[axis] = setpointCorrection;
#endif
// no feedforward in launch control
float feedforwardGain = launchControlActive ? 0.0f : pidRuntime.pidCoefficient[axis].Kf;
if (feedforwardGain > 0) {
// halve feedforward in Level mode since stick sensitivity is weaker by about half
feedforwardGain *= FLIGHT_MODE(ANGLE_MODE) ? 0.5f : 1.0f;
// transition now calculated in feedforward.c when new RC data arrives
float feedForward = feedforwardGain * pidSetpointDelta * pidRuntime.pidFrequency;
#ifdef USE_FEEDFORWARD
pidData[axis].F = shouldApplyFeedforwardLimits(axis) ?
applyFeedforwardLimit(axis, feedForward, pidRuntime.pidCoefficient[axis].Kp, currentPidSetpoint) : feedForward;
#else
pidData[axis].F = feedForward;
#endif
#ifdef USE_RC_SMOOTHING_FILTER
pidData[axis].F = applyRcSmoothingFeedforwardFilter(axis, pidData[axis].F);
#endif // USE_RC_SMOOTHING_FILTER
} 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 = (pidRuntime.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 (pidRuntime.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
// P boost at the end of throttle chop
// attenuate effect if turning more than 50 deg/s, half at 100 deg/s
float agBoostAttenuator = fabsf(currentPidSetpoint) / 50.0f;
agBoostAttenuator = MAX(agBoostAttenuator, 1.0f);
const float agBoost = 1.0f + (pidRuntime.antiGravityPBoost / agBoostAttenuator);
if (axis != FD_YAW) {
pidData[axis].P *= agBoost;
DEBUG_SET(DEBUG_ANTI_GRAVITY, axis - FD_ROLL + 2, lrintf(agBoost * 1000));
}
const float pidSum = pidData[axis].P + pidData[axis].I + pidData[axis].D + pidData[axis].F;
#ifdef USE_INTEGRATED_YAW_CONTROL
if (axis == FD_YAW && pidRuntime.useIntegratedYaw) {
pidData[axis].Sum += pidSum * pidRuntime.dT * 100.0f;
pidData[axis].Sum -= pidData[axis].Sum * pidRuntime.integratedYawRelax / 100000.0f * pidRuntime.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 (!pidRuntime.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 (pidRuntime.zeroThrottleItermReset) {
pidResetIterm();
}
}
bool crashRecoveryModeActive(void)
{
return pidRuntime.inCrashRecoveryMode;
}
#ifdef USE_ACRO_TRAINER
void pidSetAcroTrainerState(bool newState)
{
if (pidRuntime.acroTrainerActive != newState) {
if (newState) {
pidAcroTrainerInit();
}
pidRuntime.acroTrainerActive = newState;
}
}
#endif // USE_ACRO_TRAINER
void pidSetAntiGravityState(bool newState)
{
if (newState != pidRuntime.antiGravityEnabled) {
// reset the accelerator on state changes
pidRuntime.itermAccelerator = 0.0f;
}
pidRuntime.antiGravityEnabled = newState;
}
bool pidAntiGravityEnabled(void)
{
return pidRuntime.antiGravityEnabled;
}
#ifdef USE_DYN_LPF
void dynLpfDTermUpdate(float throttle)
{
if (pidRuntime.dynLpfFilter != DYN_LPF_NONE) {
float cutoffFreq;
if (pidRuntime.dynLpfCurveExpo > 0) {
cutoffFreq = dynLpfCutoffFreq(throttle, pidRuntime.dynLpfMin, pidRuntime.dynLpfMax, pidRuntime.dynLpfCurveExpo);
} else {
cutoffFreq = fmaxf(dynThrottle(throttle) * pidRuntime.dynLpfMax, pidRuntime.dynLpfMin);
}
switch (pidRuntime.dynLpfFilter) {
case DYN_LPF_PT1:
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
pt1FilterUpdateCutoff(&pidRuntime.dtermLowpass[axis].pt1Filter, pt1FilterGain(cutoffFreq, pidRuntime.dT));
}
break;
case DYN_LPF_BIQUAD:
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
biquadFilterUpdateLPF(&pidRuntime.dtermLowpass[axis].biquadFilter, cutoffFreq, targetPidLooptime);
}
break;
case DYN_LPF_PT2:
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
pt2FilterUpdateCutoff(&pidRuntime.dtermLowpass[axis].pt2Filter, pt2FilterGain(cutoffFreq, pidRuntime.dT));
}
break;
case DYN_LPF_PT3:
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
pt3FilterUpdateCutoff(&pidRuntime.dtermLowpass[axis].pt3Filter, pt3FilterGain(cutoffFreq, pidRuntime.dT));
}
break;
}
}
}
#endif
float dynLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLpfMax, uint8_t expo) {
const float expof = expo / 10.0f;
const float curve = throttle * (1 - throttle) * expof + throttle;
return (dynLpfMax - dynLpfMin) * curve + dynLpfMin;
}
void pidSetItermReset(bool enabled)
{
pidRuntime.zeroThrottleItermReset = enabled;
}
float pidGetPreviousSetpoint(int axis)
{
return pidRuntime.previousPidSetpoint[axis];
}
float pidGetDT()
{
return pidRuntime.dT;
}
float pidGetPidFrequency()
{
return pidRuntime.pidFrequency;
}
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