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Code Issues Wiki Activity

Iterm limiting for fixed wing (#574)

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This commit is contained in:
Paweł Spychalski 2016-09-10 15:22:58 +02:00 • committed by Konstantin Sharlaimov
parent f420cec931
commit ac13be4863
6 changed files with 21 additions and 1 deletions
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1
docs/Cli.md
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@ -255,6 +255,7 @@ Re-apply any new defaults as desired.
| `nav_max_climb_rate` | Maximum climb/descent rate that UAV is allowed to reach during navigation modes. In cm/s | 10 | 2000 | 500 | Master | UINT16 |
| `flaperon_throw_offset` | Defines throw range in us for both ailerons that will be applied (before scaling) when FLAPERON mode is activated. | 100 | 400 | 250 | Profile | UINT16 |
| `flaperon_throw_inverted` | Inverts throw offset on both ailerons. Can be used to create SPOILERON or just to change throw direction | OFF | ON | OFF | Profile | UINT8 |
| `fw_iterm_throw_limit` | Limits max/min I-term value in stabilization PID controller in case of Fixed Wing. It solves the problem of servo saturation before take-off/throwing the airplane into the air. By default, error accumulated in I-term can not exceed 1/3 of servo throw (around 165us). | 25 | 500 | 165 | Profile | UINT16 |
## New iNav spesific
| `Variable` | Description/Units | Min | Max | Default | Type | Datatype |

3
src/main/config/config.c
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@ -231,6 +231,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->max_angle_inclination[FD_ROLL] = 300; // 30 degrees
pidProfile->max_angle_inclination[FD_PITCH] = 300; // 30 degrees
pidProfile->fixedWingItermThrowLimit = FW_ITERM_THROW_LIMIT_DEFAULT;
}
#ifdef NAV

1
src/main/config/config_profile.h
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@ -44,5 +44,6 @@ typedef struct profile_s {
uint16_t flaperon_throw_offset;
uint8_t flaperon_throw_inverted;
#endif
} profile_t;

6
src/main/flight/pid.c
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@ -344,6 +344,12 @@ static void pidApplyRateController(const pidProfile_t *pidProfile, pidState_t *p
pidState->errorGyroIfLimit = ABS(pidState->errorGyroIf);
}
#ifdef USE_SERVOS
if (STATE(FIXED_WING)) {
pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -pidProfile->fixedWingItermThrowLimit, pidProfile->fixedWingItermThrowLimit);
}
#endif
axisPID[axis] = newOutputLimited;
#ifdef BLACKBOX

8
src/main/flight/pid.h
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@ -27,6 +27,10 @@
#define MAG_HOLD_RATE_LIMIT_MAX 250
#define MAG_HOLD_RATE_LIMIT_DEFAULT 90
#define FW_ITERM_THROW_LIMIT_DEFAULT 165
#define FW_ITERM_THROW_LIMIT_MIN 25
#define FW_ITERM_THROW_LIMIT_MAX 500
#define AXIS_ACCEL_MIN_LIMIT 50
typedef enum {
@ -65,6 +69,10 @@ typedef struct pidProfile_s {
int16_t max_angle_inclination[ANGLE_INDEX_COUNT]; // Max possible inclination (roll and pitch axis separately
uint8_t mag_hold_rate_limit; //Maximum rotation rate MAG_HOLD mode can feed to yaw rate PID controller
#ifdef USE_SERVOS
uint16_t fixedWingItermThrowLimit;
#endif
} pidProfile_t;
extern int16_t axisPID[];

1
src/main/io/serial_cli.c
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@ -757,6 +757,7 @@ const clivalue_t valueTable[] = {
{ "gimbal_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].gimbalConfig.mode, .config.lookup = { TABLE_GIMBAL_MODE }, 0 },
{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, 0 },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servo_pwm_rate, .config.minmax = { 50, 498 }, 0 },
{ "fw_iterm_throw_limit", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.fixedWingItermThrowLimit, .config.minmax = { FW_ITERM_THROW_LIMIT_MIN, FW_ITERM_THROW_LIMIT_MAX}, 0 },
#endif
{ "mode_range_logic_operator", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].modeActivationOperator, .config.lookup = { TABLE_AUX_OPERATOR }, 0 },