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PID/PIFF refactoring (#5129)
* Stage 1 PID/PIFF refactoring * Fix F3 compilation * Minor speedup * Make PID controller type configurable * fix compilation * Further minor optimizations * Fix mixer integration * Move some mixer routines to FASTRAM and precompute constants * Run applyMotorRateLimiting only when needed * Revert "Move some mixer routines to FASTRAM and precompute constants" This reverts commit31370c1288. * Revert "Minor speedup" This reverts commit02b58e5f05. * fix compilation * Remove unused parameter * Fix F3
This commit is contained in:
Paweł Spychalski
GitHub
parent
d816e859f7
commit
ca46d7ab28
6 changed files with 204 additions and 128 deletions
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@ -23,6 +23,7 @@
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#include "maths.h"
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#include "vector.h"
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#include "quaternion.h"
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#include "platform.h"
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// http://lolengine.net/blog/2011/12/21/better-function-approximations
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// Chebyshev http://stackoverflow.com/questions/345085/how-do-trigonometric-functions-work/345117#345117
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@ -158,7 +159,7 @@ int constrain(int amt, int low, int high)
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return amt;
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}
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float constrainf(float amt, float low, float high)
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float FAST_CODE NOINLINE constrainf(float amt, float low, float high)
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{
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if (amt < low)
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return low;
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@ -135,6 +135,9 @@ tables:
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- name: dynamicFilterRangeTable
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values: ["HIGH", "MEDIUM", "LOW"]
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enum: dynamicFilterRange_e
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- name: pidTypeTable
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values: ["NONE", "PID", "PIFF", "AUTO"]
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enum: pidType_e
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groups:
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- name: PG_GYRO_CONFIG
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@ -1225,6 +1228,9 @@ groups:
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condition: USE_ANTIGRAVITY
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min: 1
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max: 30
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- name: pid_type
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field: pidControllerType
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table: pidTypeTable
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- name: PG_PID_AUTOTUNE_CONFIG
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type: pidAutotuneConfig_t
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@ -110,6 +110,9 @@ PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
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PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, primaryMotorMixer, PG_MOTOR_MIXER, 0);
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typedef void (*motorRateLimitingApplyFnPtr)(const float dT);
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static EXTENDED_FASTRAM motorRateLimitingApplyFnPtr motorRateLimitingApplyFn;
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static void computeMotorCount(void)
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{
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motorCount = 0;
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@ -154,6 +157,49 @@ void mixerUpdateStateFlags(void)
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}
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}
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void nullMotorRateLimiting(const float dT)
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{
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UNUSED(dT);
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}
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void applyMotorRateLimiting(const float dT)
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{
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static float motorPrevious[MAX_SUPPORTED_MOTORS] = { 0 };
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if (feature(FEATURE_3D)) {
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// FIXME: Don't apply rate limiting in 3D mode
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for (int i = 0; i < motorCount; i++) {
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motorPrevious[i] = motor[i];
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}
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}
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else {
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// Calculate max motor step
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const uint16_t motorRange = motorConfig()->maxthrottle - motorConfig()->minthrottle;
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const float motorMaxInc = (motorConfig()->motorAccelTimeMs == 0) ? 2000 : motorRange * dT / (motorConfig()->motorAccelTimeMs * 1e-3f);
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const float motorMaxDec = (motorConfig()->motorDecelTimeMs == 0) ? 2000 : motorRange * dT / (motorConfig()->motorDecelTimeMs * 1e-3f);
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for (int i = 0; i < motorCount; i++) {
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// Apply motor rate limiting
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motorPrevious[i] = constrainf(motor[i], motorPrevious[i] - motorMaxDec, motorPrevious[i] + motorMaxInc);
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// Handle throttle below min_throttle (motor start/stop)
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if (motorPrevious[i] < motorConfig()->minthrottle) {
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if (motor[i] < motorConfig()->minthrottle) {
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motorPrevious[i] = motor[i];
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}
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else {
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motorPrevious[i] = motorConfig()->minthrottle;
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}
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}
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}
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}
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// Update motor values
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for (int i = 0; i < motorCount; i++) {
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motor[i] = motorPrevious[i];
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}
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}
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void mixerInit(void)
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{
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computeMotorCount();
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@ -164,6 +210,12 @@ void mixerInit(void)
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}
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mixerResetDisarmedMotors();
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if (motorConfig()->motorAccelTimeMs || motorConfig()->motorDecelTimeMs) {
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motorRateLimitingApplyFn = applyMotorRateLimiting;
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} else {
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motorRateLimitingApplyFn = nullMotorRateLimiting;
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}
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}
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void mixerResetDisarmedMotors(void)
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@ -240,44 +292,6 @@ void stopPwmAllMotors(void)
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pwmShutdownPulsesForAllMotors(motorCount);
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}
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static void applyMotorRateLimiting(const float dT)
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{
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static float motorPrevious[MAX_SUPPORTED_MOTORS] = { 0 };
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if (feature(FEATURE_3D)) {
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// FIXME: Don't apply rate limiting in 3D mode
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for (int i = 0; i < motorCount; i++) {
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motorPrevious[i] = motor[i];
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}
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}
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else {
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// Calculate max motor step
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const uint16_t motorRange = motorConfig()->maxthrottle - motorConfig()->minthrottle;
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const float motorMaxInc = (motorConfig()->motorAccelTimeMs == 0) ? 2000 : motorRange * dT / (motorConfig()->motorAccelTimeMs * 1e-3f);
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const float motorMaxDec = (motorConfig()->motorDecelTimeMs == 0) ? 2000 : motorRange * dT / (motorConfig()->motorDecelTimeMs * 1e-3f);
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for (int i = 0; i < motorCount; i++) {
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// Apply motor rate limiting
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motorPrevious[i] = constrainf(motor[i], motorPrevious[i] - motorMaxDec, motorPrevious[i] + motorMaxInc);
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// Handle throttle below min_throttle (motor start/stop)
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if (motorPrevious[i] < motorConfig()->minthrottle) {
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if (motor[i] < motorConfig()->minthrottle) {
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motorPrevious[i] = motor[i];
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}
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else {
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motorPrevious[i] = motorConfig()->minthrottle;
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}
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}
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}
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}
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// Update motor values
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for (int i = 0; i < motorCount; i++) {
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motor[i] = motorPrevious[i];
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}
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}
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void FAST_CODE NOINLINE mixTable(const float dT)
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{
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int16_t input[3]; // RPY, range [-500:+500]
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@ -414,7 +428,7 @@ void FAST_CODE NOINLINE mixTable(const float dT)
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}
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/* Apply motor acceleration/deceleration limit */
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applyMotorRateLimiting(dT);
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motorRateLimitingApplyFn(dT);
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}
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motorStatus_e getMotorStatus(void)
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@ -91,14 +91,15 @@ typedef struct {
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pt1Filter_t dBoostLpf;
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biquadFilter_t dBoostGyroLpf;
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#endif
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bool itermLimitActive;
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} pidState_t;
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STATIC_FASTRAM filterApplyFnPtr notchFilterApplyFn;
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STATIC_FASTRAM bool pidFiltersConfigured = false;
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FASTRAM float headingHoldCosZLimit;
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FASTRAM int16_t headingHoldTarget;
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STATIC_FASTRAM pt1Filter_t headingHoldRateFilter;
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STATIC_FASTRAM pt1Filter_t fixedWingTpaFilter;
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static EXTENDED_FASTRAM float headingHoldCosZLimit;
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static EXTENDED_FASTRAM int16_t headingHoldTarget;
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static EXTENDED_FASTRAM pt1Filter_t headingHoldRateFilter;
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static EXTENDED_FASTRAM pt1Filter_t fixedWingTpaFilter;
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// Thrust PID Attenuation factor. 0.0f means fully attenuated, 1.0f no attenuation is applied
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STATIC_FASTRAM bool pidGainsUpdateRequired;
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@ -132,8 +133,19 @@ static EXTENDED_FASTRAM float dBoostMaxAtAlleceleration;
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static EXTENDED_FASTRAM uint16_t yawPLimit;
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static EXTENDED_FASTRAM uint8_t yawLpfHz;
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static EXTENDED_FASTRAM uint16_t pidSumLimit;
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static EXTENDED_FASTRAM float motorItermWindupPoint;
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static EXTENDED_FASTRAM float antiWindupScaler;
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#ifdef USE_ANTIGRAVITY
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static EXTENDED_FASTRAM float iTermAntigravityGain;
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#endif
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static EXTENDED_FASTRAM uint8_t usedPidControllerType;
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PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 10);
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typedef void (*pidControllerFnPtr)(pidState_t *pidState, flight_dynamics_index_t axis, float dT);
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static EXTENDED_FASTRAM pidControllerFnPtr pidControllerApplyFn;
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static EXTENDED_FASTRAM filterApplyFnPtr dTermLpfFilterApplyFn;
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PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(pidProfile_t, pidProfile, PG_PID_PROFILE, 11);
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PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
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.bank_mc = {
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@ -238,40 +250,9 @@ PG_RESET_TEMPLATE(pidProfile_t, pidProfile,
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.antigravityGain = 1.0f,
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.antigravityAccelerator = 1.0f,
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.antigravityCutoff = ANTI_GRAVITY_THROTTLE_FILTER_CUTOFF,
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.pidControllerType = PID_TYPE_AUTO,
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);
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void pidInit(void)
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{
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pidResetTPAFilter();
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// Calculate max overall tilt (max pitch + max roll combined) as a limit to heading hold
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headingHoldCosZLimit = cos_approx(DECIDEGREES_TO_RADIANS(pidProfile()->max_angle_inclination[FD_ROLL])) *
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cos_approx(DECIDEGREES_TO_RADIANS(pidProfile()->max_angle_inclination[FD_PITCH]));
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pidGainsUpdateRequired = false;
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itermRelax = pidProfile()->iterm_relax;
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itermRelaxType = pidProfile()->iterm_relax_type;
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itermRelaxSetpointThreshold = MC_ITERM_RELAX_SETPOINT_THRESHOLD * MC_ITERM_RELAX_CUTOFF_DEFAULT / pidProfile()->iterm_relax_cutoff;
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if (mixerConfig()->platformType == PLATFORM_MULTIROTOR) {
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yawPLimit = pidProfile()->yaw_p_limit;
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} else {
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yawPLimit = 0;
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}
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yawLpfHz = pidProfile()->yaw_lpf_hz;
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#ifdef USE_D_BOOST
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dBoostFactor = pidProfile()->dBoostFactor;
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dBoostMaxAtAlleceleration = pidProfile()->dBoostMaxAtAlleceleration;
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#endif
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#ifdef USE_ANTIGRAVITY
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antigravityGain = pidProfile()->antigravityGain;
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antigravityAccelerator = pidProfile()->antigravityAccelerator;
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#endif
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}
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bool pidInitFilters(void)
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{
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const uint32_t refreshRate = getLooptime();
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@ -338,7 +319,7 @@ bool pidInitFilters(void)
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void pidResetTPAFilter(void)
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{
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if (STATE(FIXED_WING) && currentControlRateProfile->throttle.fixedWingTauMs > 0) {
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if (usedPidControllerType == PID_TYPE_PIFF && currentControlRateProfile->throttle.fixedWingTauMs > 0) {
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pt1FilterInitRC(&fixedWingTpaFilter, currentControlRateProfile->throttle.fixedWingTauMs * 1e-3f, getLooptime() * 1e-6f);
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pt1FilterReset(&fixedWingTpaFilter, motorConfig()->minthrottle);
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}
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@ -436,7 +417,7 @@ void FAST_CODE NOINLINE updatePIDCoefficients(float dT)
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STATIC_FASTRAM uint16_t prevThrottle = 0;
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// Check if throttle changed. Different logic for fixed wing vs multirotor
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if (STATE(FIXED_WING) && (currentControlRateProfile->throttle.fixedWingTauMs > 0)) {
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if (usedPidControllerType == PID_TYPE_PIFF && (currentControlRateProfile->throttle.fixedWingTauMs > 0)) {
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uint16_t filteredThrottle = pt1FilterApply3(&fixedWingTpaFilter, rcCommand[THROTTLE], dT);
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if (filteredThrottle != prevThrottle) {
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prevThrottle = filteredThrottle;
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@ -451,7 +432,7 @@ void FAST_CODE NOINLINE updatePIDCoefficients(float dT)
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}
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#ifdef USE_ANTIGRAVITY
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if (!STATE(FIXED_WING)) {
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if (usedPidControllerType == PID_TYPE_PID) {
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antigravityThrottleHpf = rcCommand[THROTTLE] - pt1FilterApply(&antigravityThrottleLpf, rcCommand[THROTTLE]);
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}
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#endif
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@ -468,12 +449,12 @@ void FAST_CODE NOINLINE updatePIDCoefficients(float dT)
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return;
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}
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const float tpaFactor = STATE(FIXED_WING) ? calculateFixedWingTPAFactor(prevThrottle) : calculateMultirotorTPAFactor();
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const float tpaFactor = usedPidControllerType == PID_TYPE_PIFF ? calculateFixedWingTPAFactor(prevThrottle) : calculateMultirotorTPAFactor();
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// PID coefficients can be update only with THROTTLE and TPA or inflight PID adjustments
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//TODO: Next step would be to update those only at THROTTLE or inflight adjustments change
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for (int axis = 0; axis < 3; axis++) {
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if (STATE(FIXED_WING)) {
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if (usedPidControllerType == PID_TYPE_PIFF) {
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// Airplanes - scale all PIDs according to TPA
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pidState[axis].kP = pidBank()->pid[axis].P / FP_PID_RATE_P_MULTIPLIER * tpaFactor;
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pidState[axis].kI = pidBank()->pid[axis].I / FP_PID_RATE_I_MULTIPLIER * tpaFactor;
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@ -598,6 +579,20 @@ static FAST_CODE NOINLINE float pTermProcess(pidState_t *pidState, flight_dynami
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return newPTerm;
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}
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static void applyItermLimiting(pidState_t *pidState) {
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if (pidState->itermLimitActive) {
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pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -pidState->errorGyroIfLimit, pidState->errorGyroIfLimit);
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} else {
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pidState->errorGyroIfLimit = fabsf(pidState->errorGyroIf);
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}
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}
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static void nullRateController(pidState_t *pidState, flight_dynamics_index_t axis, float dT) {
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UNUSED(pidState);
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UNUSED(axis);
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UNUSED(dT);
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}
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static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, flight_dynamics_index_t axis, float dT)
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{
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const float rateError = pidState->rateTarget - pidState->gyroRate;
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@ -607,11 +602,7 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
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// Calculate integral
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pidState->errorGyroIf += rateError * pidState->kI * dT;
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if (STATE(ANTI_WINDUP) || isFixedWingItermLimitActive(pidState->stickPosition)) {
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pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -pidState->errorGyroIfLimit, pidState->errorGyroIfLimit);
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} else {
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pidState->errorGyroIfLimit = fabsf(pidState->errorGyroIf);
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}
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applyItermLimiting(pidState);
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if (pidProfile()->fixedWingItermThrowLimit != 0) {
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pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -pidProfile()->fixedWingItermThrowLimit, pidProfile()->fixedWingItermThrowLimit);
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@ -623,7 +614,7 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
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}
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#endif
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axisPID[axis] = constrainf(newPTerm + newFFTerm + pidState->errorGyroIf, -pidProfile()->pidSumLimit, +pidProfile()->pidSumLimit);
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axisPID[axis] = constrainf(newPTerm + newFFTerm + pidState->errorGyroIf, -pidSumLimit, +pidSumLimit);
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#ifdef USE_BLACKBOX
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axisPID_P[axis] = newPTerm;
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@ -660,7 +651,7 @@ static void FAST_CODE applyItermRelax(const int axis, const float gyroRate, floa
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}
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}
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#ifdef USE_D_BOOST
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static float FAST_CODE applyDBoost(pidState_t *pidState, flight_dynamics_index_t axis, float dT) {
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static float FAST_CODE applyDBoost(pidState_t *pidState, float dT) {
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float dBoost = 1.0f;
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@ -681,22 +672,21 @@ static float FAST_CODE applyDBoost(pidState_t *pidState, flight_dynamics_index_t
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return dBoost;
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}
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#else
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static float applyDBoost(pidState_t *pidState, flight_dynamics_index_t axis, float dT) {
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static float applyDBoost(pidState_t *pidState, float dT) {
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UNUSED(pidState);
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UNUSED(axis);
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UNUSED(dT);
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return 1.0f;
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}
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#endif
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static void FAST_CODE pidApplyMulticopterRateController(pidState_t *pidState, flight_dynamics_index_t axis, float dT)
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static void FAST_CODE NOINLINE pidApplyMulticopterRateController(pidState_t *pidState, flight_dynamics_index_t axis, float dT)
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{
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const float rateError = pidState->rateTarget - pidState->gyroRate;
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const float newPTerm = pTermProcess(pidState, axis, rateError, dT);
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// Calculate new D-term
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float newDTerm;
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if (pidBank()->pid[axis].D == 0) {
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if (pidState->kD == 0) {
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// optimisation for when D8 is zero, often used by YAW axis
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newDTerm = 0;
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} else {
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@ -707,15 +697,13 @@ static void FAST_CODE pidApplyMulticopterRateController(pidState_t *pidState, fl
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deltaFiltered = notchFilterApplyFn(&pidState->deltaNotchFilter, deltaFiltered);
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// Apply additional lowpass
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if (pidProfile()->dterm_lpf_hz) {
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deltaFiltered = biquadFilterApply(&pidState->deltaLpfState, deltaFiltered);
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}
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deltaFiltered = dTermLpfFilterApplyFn(&pidState->deltaLpfState, deltaFiltered);
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firFilterUpdate(&pidState->gyroRateFilter, deltaFiltered);
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newDTerm = firFilterApply(&pidState->gyroRateFilter);
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// Calculate derivative
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newDTerm = newDTerm * (pidState->kD / dT) * applyDBoost(pidState, axis, dT);
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newDTerm = newDTerm * (pidState->kD / dT) * applyDBoost(pidState, dT);
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// Additionally constrain D
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newDTerm = constrainf(newDTerm, -300.0f, 300.0f);
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@ -723,17 +711,12 @@ static void FAST_CODE pidApplyMulticopterRateController(pidState_t *pidState, fl
|
|||
|
||||
// TODO: Get feedback from mixer on available correction range for each axis
|
||||
const float newOutput = newPTerm + newDTerm + pidState->errorGyroIf;
|
||||
const float newOutputLimited = constrainf(newOutput, -pidProfile()->pidSumLimit, +pidProfile()->pidSumLimit);
|
||||
|
||||
// Prevent strong Iterm accumulation during stick inputs
|
||||
const float motorItermWindupPoint = 1.0f - (pidProfile()->itermWindupPointPercent / 100.0f);
|
||||
const float antiWindupScaler = constrainf((1.0f - getMotorMixRange()) / motorItermWindupPoint, 0.0f, 1.0f);
|
||||
const float newOutputLimited = constrainf(newOutput, -pidSumLimit, +pidSumLimit);
|
||||
|
||||
float itermErrorRate = rateError;
|
||||
applyItermRelax(axis, pidState->gyroRate, pidState->rateTarget, &itermErrorRate);
|
||||
|
||||
#ifdef USE_ANTIGRAVITY
|
||||
const float iTermAntigravityGain = scaleRangef(fabsf(antigravityThrottleHpf) * antigravityAccelerator, 0.0f, 1000.0f, 1.0f, antigravityGain);
|
||||
itermErrorRate *= iTermAntigravityGain;
|
||||
#endif
|
||||
|
||||
|
|
@ -741,11 +724,7 @@ static void FAST_CODE pidApplyMulticopterRateController(pidState_t *pidState, fl
|
|||
+ ((newOutputLimited - newOutput) * pidState->kT * antiWindupScaler * dT);
|
||||
|
||||
// Don't grow I-term if motors are at their limit
|
||||
if (STATE(ANTI_WINDUP) || mixerIsOutputSaturated()) {
|
||||
pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -pidState->errorGyroIfLimit, pidState->errorGyroIfLimit);
|
||||
} else {
|
||||
pidState->errorGyroIfLimit = fabsf(pidState->errorGyroIf);
|
||||
}
|
||||
applyItermLimiting(pidState);
|
||||
|
||||
axisPID[axis] = newOutputLimited;
|
||||
|
||||
|
|
@ -937,7 +916,20 @@ static void pidApplyFpvCameraAngleMix(pidState_t *pidState, uint8_t fpvCameraAng
|
|||
pidState[YAW].rateTarget = constrainf(yawRate * cosCameraAngle + rollRate * sinCameraAngle, -GYRO_SATURATION_LIMIT, GYRO_SATURATION_LIMIT);
|
||||
}
|
||||
|
||||
void FAST_CODE pidController(float dT)
|
||||
void FAST_CODE checkItermLimitingActive(pidState_t *pidState)
|
||||
{
|
||||
bool shouldActivate;
|
||||
if (usedPidControllerType == PID_TYPE_PIFF) {
|
||||
shouldActivate = isFixedWingItermLimitActive(pidState->stickPosition);
|
||||
} else
|
||||
{
|
||||
shouldActivate = mixerIsOutputSaturated();
|
||||
}
|
||||
|
||||
pidState->itermLimitActive = STATE(ANTI_WINDUP) || shouldActivate;
|
||||
}
|
||||
|
||||
void FAST_CODE NOINLINE pidController(float dT)
|
||||
{
|
||||
if (!pidFiltersConfigured) {
|
||||
return;
|
||||
|
|
@ -988,30 +980,29 @@ void FAST_CODE pidController(float dT)
|
|||
pidApplyFpvCameraAngleMix(pidState, currentControlRateProfile->misc.fpvCamAngleDegrees);
|
||||
}
|
||||
|
||||
// Apply setpoint rate of change limits
|
||||
// Prevent strong Iterm accumulation during stick inputs
|
||||
antiWindupScaler = constrainf((1.0f - getMotorMixRange()) / motorItermWindupPoint, 0.0f, 1.0f);
|
||||
|
||||
#ifdef USE_ANTIGRAVITY
|
||||
iTermAntigravityGain = scaleRangef(fabsf(antigravityThrottleHpf) * antigravityAccelerator, 0.0f, 1000.0f, 1.0f, antigravityGain);
|
||||
#endif
|
||||
|
||||
for (int axis = 0; axis < 3; axis++) {
|
||||
// Apply setpoint rate of change limits
|
||||
pidApplySetpointRateLimiting(&pidState[axis], axis, dT);
|
||||
}
|
||||
|
||||
// Step 4: Run gyro-driven control
|
||||
for (int axis = 0; axis < 3; axis++) {
|
||||
// Apply PID setpoint controller
|
||||
if (STATE(FIXED_WING)) {
|
||||
pidApplyFixedWingRateController(&pidState[axis], axis, dT);
|
||||
}
|
||||
else {
|
||||
pidApplyMulticopterRateController(&pidState[axis], axis, dT);
|
||||
}
|
||||
checkItermLimitingActive(&pidState[axis]);
|
||||
pidControllerApplyFn(&pidState[axis], axis, dT);
|
||||
}
|
||||
}
|
||||
|
||||
pidType_e pidIndexGetType(pidIndex_e pidIndex)
|
||||
{
|
||||
if (STATE(FIXED_WING)) {
|
||||
// FW specific
|
||||
if (pidIndex == PID_ROLL || pidIndex == PID_PITCH || pidIndex == PID_YAW) {
|
||||
return PID_TYPE_PIFF;
|
||||
return usedPidControllerType;
|
||||
}
|
||||
if (STATE(FIXED_WING)) {
|
||||
if (pidIndex == PID_VEL_XY || pidIndex == PID_VEL_Z) {
|
||||
return PID_TYPE_NONE;
|
||||
}
|
||||
|
|
@ -1022,3 +1013,61 @@ pidType_e pidIndexGetType(pidIndex_e pidIndex)
|
|||
}
|
||||
return PID_TYPE_PID;
|
||||
}
|
||||
|
||||
void pidInit(void)
|
||||
{
|
||||
pidResetTPAFilter();
|
||||
|
||||
// Calculate max overall tilt (max pitch + max roll combined) as a limit to heading hold
|
||||
headingHoldCosZLimit = cos_approx(DECIDEGREES_TO_RADIANS(pidProfile()->max_angle_inclination[FD_ROLL])) *
|
||||
cos_approx(DECIDEGREES_TO_RADIANS(pidProfile()->max_angle_inclination[FD_PITCH]));
|
||||
|
||||
pidGainsUpdateRequired = false;
|
||||
|
||||
itermRelax = pidProfile()->iterm_relax;
|
||||
itermRelaxType = pidProfile()->iterm_relax_type;
|
||||
itermRelaxSetpointThreshold = MC_ITERM_RELAX_SETPOINT_THRESHOLD * MC_ITERM_RELAX_CUTOFF_DEFAULT / pidProfile()->iterm_relax_cutoff;
|
||||
|
||||
if (mixerConfig()->platformType == PLATFORM_MULTIROTOR) {
|
||||
yawPLimit = pidProfile()->yaw_p_limit;
|
||||
} else {
|
||||
yawPLimit = 0;
|
||||
}
|
||||
yawLpfHz = pidProfile()->yaw_lpf_hz;
|
||||
pidSumLimit = pidProfile()->pidSumLimit;
|
||||
motorItermWindupPoint = 1.0f - (pidProfile()->itermWindupPointPercent / 100.0f);
|
||||
|
||||
#ifdef USE_D_BOOST
|
||||
dBoostFactor = pidProfile()->dBoostFactor;
|
||||
dBoostMaxAtAlleceleration = pidProfile()->dBoostMaxAtAlleceleration;
|
||||
#endif
|
||||
|
||||
#ifdef USE_ANTIGRAVITY
|
||||
antigravityGain = pidProfile()->antigravityGain;
|
||||
antigravityAccelerator = pidProfile()->antigravityAccelerator;
|
||||
#endif
|
||||
|
||||
if (pidProfile()->pidControllerType == PID_TYPE_AUTO) {
|
||||
if (STATE(FIXED_WING)) {
|
||||
usedPidControllerType = PID_TYPE_PIFF;
|
||||
} else {
|
||||
usedPidControllerType = PID_TYPE_PID;
|
||||
}
|
||||
} else {
|
||||
usedPidControllerType = pidProfile()->pidControllerType;
|
||||
}
|
||||
|
||||
if (pidProfile()->dterm_lpf_hz) {
|
||||
dTermLpfFilterApplyFn = (filterApplyFnPtr) biquadFilterApply;
|
||||
} else {
|
||||
dTermLpfFilterApplyFn = nullFilterApply;
|
||||
}
|
||||
|
||||
if (usedPidControllerType == PID_TYPE_PIFF) {
|
||||
pidControllerApplyFn = pidApplyFixedWingRateController;
|
||||
} else if (usedPidControllerType == PID_TYPE_PID) {
|
||||
pidControllerApplyFn = pidApplyMulticopterRateController;
|
||||
} else {
|
||||
pidControllerApplyFn = nullRateController;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -72,9 +72,10 @@ typedef enum {
|
|||
|
||||
// TODO(agh): PIDFF
|
||||
typedef enum {
|
||||
PID_TYPE_NONE, // Not used in the current platform/mixer/configuration
|
||||
PID_TYPE_NONE = 0, // Not used in the current platform/mixer/configuration
|
||||
PID_TYPE_PID, // Uses P, I and D terms
|
||||
PID_TYPE_PIFF, // Uses P, I and FF, ignoring D
|
||||
PID_TYPE_AUTO, // Autodetect
|
||||
} pidType_e;
|
||||
|
||||
typedef struct pid8_s {
|
||||
|
|
@ -100,6 +101,7 @@ typedef enum {
|
|||
} itermRelaxType_e;
|
||||
|
||||
typedef struct pidProfile_s {
|
||||
uint8_t pidControllerType;
|
||||
pidBank_t bank_fw;
|
||||
pidBank_t bank_mc;
|
||||
|
||||
|
|
@ -155,8 +157,10 @@ typedef struct pidAutotuneConfig_s {
|
|||
PG_DECLARE_PROFILE(pidProfile_t, pidProfile);
|
||||
PG_DECLARE(pidAutotuneConfig_t, pidAutotuneConfig);
|
||||
|
||||
static inline const pidBank_t * pidBank(void) { return STATE(FIXED_WING) ? &pidProfile()->bank_fw : &pidProfile()->bank_mc; }
|
||||
static inline pidBank_t * pidBankMutable(void) { return STATE(FIXED_WING) ? &pidProfileMutable()->bank_fw : &pidProfileMutable()->bank_mc; }
|
||||
static uint8_t usedPidControllerType;
|
||||
|
||||
static inline const pidBank_t * pidBank(void) { return usedPidControllerType == PID_TYPE_PIFF ? &pidProfile()->bank_fw : &pidProfile()->bank_mc; }
|
||||
static inline pidBank_t * pidBankMutable(void) { return usedPidControllerType == PID_TYPE_PIFF ? &pidProfileMutable()->bank_fw : &pidProfileMutable()->bank_mc; }
|
||||
|
||||
extern int16_t axisPID[];
|
||||
extern int32_t axisPID_P[], axisPID_I[], axisPID_D[], axisPID_Setpoint[];
|
||||
|
|
|
|||
|
|
@ -154,3 +154,5 @@
|
|||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
|
||||
#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
|
||||
|
||||
#undef USE_PWM_SERVO_DRIVER
|
||||
Loading…
Add table
Add a link
Reference in a new issue