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Code Issues Wiki Activity

PID: LuxFloat rewritten from scratch. New I-term back-tracking for anti-windup prevention

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AIRMODE: Air mode anti-windup improvements

PID: Remove integer PID (leave only one PID controller), remove pid_controller setting, remove float-point PID parameters (scale integer parameters to use in float-point PIDC)

PID: New set of PID tuning multipliers for better tuning range

PID: Make max_angle_inclination a PID-profile variable

PID: Reinstate yaw_p_limit

PID: Switch to a noise-robust differentiator

Remove GTUNE

PID: Use same self-leveling strength for ANGLE and HORIZON

PID: Self-leveling LPF to smooth out leveling response to rapid attitude or target angle change
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-02-02 17:39:00 +10:00
parent 6269f55a0e
commit f1aa9e6f44
34 changed files with 250 additions and 826 deletions
Download patch file Download diff file Expand all files Collapse all files

66
src/main/io/serial_msp.c
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@ -358,7 +358,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXGOV, "GOVERNOR;", 18 },
{ BOXOSD, "OSD SW;", 19 },
{ BOXTELEMETRY, "TELEMETRY;", 20 },
{ BOXGTUNE, "GTUNE;", 21 },
//{ BOXGTUNE, "GTUNE;", 21 },
{ BOXSERVO1, "SERVO1;", 23 },
{ BOXSERVO2, "SERVO2;", 24 },
{ BOXSERVO3, "SERVO3;", 25 },
@ -715,10 +715,6 @@ void mspInit(serialConfig_t *serialConfig)
activeBoxIds[activeBoxIdCount++] = BOXFAILSAFE;
}
#ifdef GTUNE
activeBoxIds[activeBoxIdCount++] = BOXGTUNE;
#endif
memset(mspPorts, 0x00, sizeof(mspPorts));
mspAllocateSerialPorts(serialConfig);
}
@ -748,7 +744,6 @@ static uint32_t packFlightModeFlags(void)
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGOV)) << BOXGOV |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXOSD)) << BOXOSD |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXTELEMETRY)) << BOXTELEMETRY |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXGTUNE)) << BOXGTUNE |
IS_ENABLED(ARMING_FLAG(ARMED)) << BOXARM |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)) << BOXBLACKBOX |
IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)) << BOXFAILSAFE |
@ -994,29 +989,10 @@ static bool processOutCommand(uint8_t cmdMSP)
break;
case MSP_PID:
headSerialReply(3 * PID_ITEM_COUNT);
if (IS_PID_CONTROLLER_FP_BASED(currentProfile->pidProfile.pidController)) { // 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, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.I_f[i] * 100.0f), 0, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.D_f[i] * 1000.0f), 0, 255));
}
for (i = 3; i < PID_ITEM_COUNT; i++) {
if (i == PIDLEVEL) {
serialize8(constrain(lrintf(currentProfile->pidProfile.A_level * 10.0f), 0, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.H_level * 10.0f), 0, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.H_sensitivity), 0, 255));
} 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]);
}
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:
@ -1025,7 +1001,7 @@ static bool processOutCommand(uint8_t cmdMSP)
break;
case MSP_PID_CONTROLLER:
headSerialReply(1);
serialize8(currentProfile->pidProfile.pidController);
serialize8(2); // FIXME: Report as LuxFloat
break;
case MSP_MODE_RANGES:
headSerialReply(4 * MAX_MODE_ACTIVATION_CONDITION_COUNT);
@ -1430,33 +1406,13 @@ static bool processInCommand(void)
masterConfig.looptime = read16();
break;
case MSP_SET_PID_CONTROLLER:
currentProfile->pidProfile.pidController = constrain(read8(), 1, 2); // Temporary configurator compatibility
pidSetController(currentProfile->pidProfile.pidController);
// FIXME: Do nothing
break;
case MSP_SET_PID:
if (IS_PID_CONTROLLER_FP_BASED(currentProfile->pidProfile.pidController)) {
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;
currentProfile->pidProfile.H_sensitivity = 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();
}
for (i = 0; i < PID_ITEM_COUNT; i++) {
currentProfile->pidProfile.P8[i] = read8();
currentProfile->pidProfile.I8[i] = read8();
currentProfile->pidProfile.D8[i] = read8();
}
break;
case MSP_SET_MODE_RANGE: