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Code Issues Wiki Activity

new Baseflight PID

Browse source 
full gyro scale is used now
and a new pid with float calculations was added based on PIDrewrite
eeprom size was also increased from 1kB to 2kB

Conflicts:

	src/config.c
	src/drivers/accgyro_l3g4200d.c
	src/drivers/accgyro_mpu3050.c
	src/drivers/accgyro_mpu6050.c
	src/flight_imu.c
	src/mw.c
	src/mw.h
	src/serial_cli.c
	src/serial_msp.c
	src/utils.c
	src/utils.h
This commit is contained in:
Lukas S 2013-11-03 03:40:16 +01:00 • committed by Dominic Clifton
parent 1df79e65fc
commit cffdfb782c
15 changed files with 222 additions and 39 deletions
Download patch file Download diff file Expand all files Collapse all files

67
src/serial_msp.c
View file

@ -1,11 +1,13 @@
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include "build_config.h"
#include "platform.h"
#include "common/maths.h"
#include "common/axis.h"
#include "drivers/system_common.h"
@ -326,34 +328,45 @@ void mspInit(serialConfig_t *serialConfig)
idx = 0;
availableBoxes[idx++] = BOXARM;
if (sensors(SENSOR_ACC)) {
availableBoxes[idx++] = BOXANGLE;
availableBoxes[idx++] = BOXHORIZON;
}
if (sensors(SENSOR_BARO)) {
availableBoxes[idx++] = BOXBARO;
if (feature(FEATURE_VARIO))
availableBoxes[idx++] = BOXVARIO;
}
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
availableBoxes[idx++] = BOXMAG;
availableBoxes[idx++] = BOXHEADFREE;
availableBoxes[idx++] = BOXHEADADJ;
}
if (feature(FEATURE_SERVO_TILT))
availableBoxes[idx++] = BOXCAMSTAB;
if (feature(FEATURE_GPS)) {
availableBoxes[idx++] = BOXGPSHOME;
availableBoxes[idx++] = BOXGPSHOLD;
}
if (masterConfig.mixerConfiguration == MULTITYPE_FLYING_WING || masterConfig.mixerConfiguration == MULTITYPE_AIRPLANE)
availableBoxes[idx++] = BOXPASSTHRU;
availableBoxes[idx++] = BOXBEEPERON;
if (feature(FEATURE_INFLIGHT_ACC_CAL))
availableBoxes[idx++] = BOXCALIB;
availableBoxes[idx++] = BOXOSD;
if (feature(FEATURE_TELEMETRY && masterConfig.telemetryConfig.telemetry_switch))
availableBoxes[idx++] = BOXTELEMETRY;
numberBoxItems = idx;
openAllMSPSerialPorts(serialConfig);
@ -389,10 +402,29 @@ static void evaluateCommand(void)
headSerialReply(0);
break;
case MSP_SET_PID:
for (i = 0; i < PID_ITEM_COUNT; i++) {
currentProfile.pidProfile.P8[i] = read8();
currentProfile.pidProfile.I8[i] = read8();
currentProfile.pidProfile.D8[i] = read8();
if (currentProfile.pidController == 2) {
for (i = 0; i < 3; i++) {
currentProfile.pidProfile.P_f[i] = (float)read8() / 10.0f;
currentProfile.pidProfile.I_f[i] = (float)read8() / 100.0f;
currentProfile.pidProfile.D_f[i] = (float)read8() / 1000.0f;
}
for (i = 3; i < PID_ITEM_COUNT; i++) {
if (i == PIDLEVEL) {
currentProfile.pidProfile.A_level = (float)read8() / 10.0f;
currentProfile.pidProfile.H_level = (float)read8() / 10.0f;
read8();
} else {
currentProfile.pidProfile.P8[i] = read8();
currentProfile.pidProfile.I8[i] = read8();
currentProfile.pidProfile.D8[i] = read8();
}
}
} else {
for (i = 0; i < PID_ITEM_COUNT; i++) {
currentProfile.pidProfile.P8[i] = read8();
currentProfile.pidProfile.I8[i] = read8();
currentProfile.pidProfile.D8[i] = read8();
}
}
headSerialReply(0);
break;
@ -599,10 +631,29 @@ static void evaluateCommand(void)
break;
case MSP_PID:
headSerialReply(3 * PID_ITEM_COUNT);
for (i = 0; i < PID_ITEM_COUNT; i++) {
serialize8(currentProfile.pidProfile.P8[i]);
serialize8(currentProfile.pidProfile.I8[i]);
serialize8(currentProfile.pidProfile.D8[i]);
if (currentProfile.pidController == 2) { // convert float stuff into uint8_t to keep backwards compatability with all 8-bit shit with new pid
for (i = 0; i < 3; i++) {
serialize8(constrain(lrintf(currentProfile.pidProfile.P_f[i] * 10.0f), 0, 250));
serialize8(constrain(lrintf(currentProfile.pidProfile.I_f[i] * 100.0f), 0, 250));
serialize8(constrain(lrintf(currentProfile.pidProfile.D_f[i] * 1000.0f), 0, 100));
}
for (i = 3; i < PID_ITEM_COUNT; i++) {
if (i == PIDLEVEL) {
serialize8(constrain(lrintf(currentProfile.pidProfile.A_level * 10.0f), 0, 250));
serialize8(constrain(lrintf(currentProfile.pidProfile.H_level * 10.0f), 0, 250));
serialize8(0);
} else {
serialize8(currentProfile.pidProfile.P8[i]);
serialize8(currentProfile.pidProfile.I8[i]);
serialize8(currentProfile.pidProfile.D8[i]);
}
}
} else {
for (i = 0; i < PID_ITEM_COUNT; i++) {
serialize8(currentProfile.pidProfile.P8[i]);
serialize8(currentProfile.pidProfile.I8[i]);
serialize8(currentProfile.pidProfile.D8[i]);
}
}
break;
case MSP_PIDNAMES: