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Code Issues Wiki Activity

cleanup + change PID FF

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breadoven 2025-07-07 17:44:30 +01:00
parent b71547a03b
commit 4d63f88b5c
4 changed files with 4 additions and 6 deletions
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2
docs/Settings.md
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@ -3628,7 +3628,7 @@ FF gain of altitude PID controller. Not used if nav_fw_alt_use_position is set O
| Default | Min | Max | | Default | Min | Max |
| --- | --- | --- | | --- | --- | --- |
| 10 | 0 | 255 | | 30 | 0 | 255 |
--- ---

2
src/main/fc/settings.yaml
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@ -2149,7 +2149,7 @@ groups:
max: 255 max: 255
- name: nav_fw_pos_z_ff - name: nav_fw_pos_z_ff
description: "FF gain of altitude PID controller. Not used if nav_fw_alt_use_position is set ON (Fixedwing)" description: "FF gain of altitude PID controller. Not used if nav_fw_alt_use_position is set ON (Fixedwing)"
default_value: 10 default_value: 30
field: bank_fw.pid[PID_POS_Z].FF field: bank_fw.pid[PID_POS_Z].FF
min: 0 min: 0
max: 255 max: 255

2
src/main/flight/pid.c
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@ -179,7 +179,7 @@ static EXTENDED_FASTRAM bool angleHoldIsLevel = false;
static EXTENDED_FASTRAM float fixedWingLevelTrim; static EXTENDED_FASTRAM float fixedWingLevelTrim;
static EXTENDED_FASTRAM pidController_t fixedWingLevelTrimController; static EXTENDED_FASTRAM pidController_t fixedWingLevelTrimController;
PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 10); PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 11);
PG_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
.bank_mc = { .bank_mc = {

4
src/main/navigation/navigation_fixedwing.c
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@ -147,7 +147,6 @@ static void updateAltitudeVelocityAndPitchController_FW(timeDelta_t deltaMicros)
// Default control based on climb rate (velocity) // Default control based on climb rate (velocity)
float targetValue = desiredClimbRate; float targetValue = desiredClimbRate;
float measuredValue = navGetCurrentActualPositionAndVelocity()->vel.z; float measuredValue = navGetCurrentActualPositionAndVelocity()->vel.z;
pidControllerFlags_e pidFlags = 0; // PID_DTERM_FROM_ERROR;
// Optional control based on altitude (position) // Optional control based on altitude (position)
if (pidProfile()->fwAltControlUsePos) { if (pidProfile()->fwAltControlUsePos) {
@ -193,11 +192,10 @@ static void updateAltitudeVelocityAndPitchController_FW(timeDelta_t deltaMicros)
targetValue = desiredAltitude; targetValue = desiredAltitude;
measuredValue = currentAltitude; measuredValue = currentAltitude;
pidFlags = 0; // use measurement for D term
} }
// PID controller to translate desired target error (velocity or position) into pitch angle [decideg] // PID controller to translate desired target error (velocity or position) into pitch angle [decideg]
float targetPitchAngle = navPidApply2(&posControl.pids.fw_alt, targetValue, measuredValue, US2S(deltaMicros), minDiveDeciDeg, maxClimbDeciDeg, pidFlags); float targetPitchAngle = navPidApply2(&posControl.pids.fw_alt, targetValue, measuredValue, US2S(deltaMicros), minDiveDeciDeg, maxClimbDeciDeg, 0);
// Apply low-pass filter to prevent rapid correction // Apply low-pass filter to prevent rapid correction
targetPitchAngle = pt1FilterApply4(&pitchFilterState, targetPitchAngle, getSmoothnessCutoffFreq(NAV_FW_BASE_PITCH_CUTOFF_FREQUENCY_HZ), US2S(deltaMicros)); targetPitchAngle = pt1FilterApply4(&pitchFilterState, targetPitchAngle, getSmoothnessCutoffFreq(NAV_FW_BASE_PITCH_CUTOFF_FREQUENCY_HZ), US2S(deltaMicros));