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Change YAW NAV pid scaling and Dterm type

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2019-12-26 11:50:07 +01:00
parent 746d7423e8
commit f80e44ac41
2 changed files with 6 additions and 4 deletions
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6
src/main/navigation/navigation.c
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@ -3213,9 +3213,9 @@ void navigationUsePIDs(void)
NAV_DTERM_CUT_HZ NAV_DTERM_CUT_HZ
); );
navPidInit(&posControl.pids.fw_heading, (float)pidProfile()->bank_fw.pid[PID_POS_HEADING].P / 100.0f, navPidInit(&posControl.pids.fw_heading, (float)pidProfile()->bank_fw.pid[PID_POS_HEADING].P / 10.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_HEADING].I / 100.0f, (float)pidProfile()->bank_fw.pid[PID_POS_HEADING].I / 10.0f,
(float)pidProfile()->bank_fw.pid[PID_POS_HEADING].D / 100.0f, (float)pidProfile()->bank_fw.pid[PID_POS_HEADING].D / 10.0f,
0.0f, 0.0f,
2.0f 2.0f
); );

4
src/main/navigation/navigation_fixedwing.c
View file

@ -354,6 +354,8 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
limit = pidProfile()->navFwPosHdgPidsumLimit * 100.0f; limit = pidProfile()->navFwPosHdgPidsumLimit * 100.0f;
} }
const pidControllerFlags_e yawPidFlags = errorIsDecreasing ? PID_SHRINK_INTEGRATOR : 0;
float yawAdjustment = navPidApply2( float yawAdjustment = navPidApply2(
&posControl.pids.fw_heading, &posControl.pids.fw_heading,
0, 0,
@ -361,7 +363,7 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
US2S(deltaMicros), US2S(deltaMicros),
-limit, -limit,
limit, limit,
pidFlags yawPidFlags
) / 100.0f; ) / 100.0f;
DEBUG_SET(DEBUG_NAV_YAW, 0, posControl.pids.fw_heading.proportional); DEBUG_SET(DEBUG_NAV_YAW, 0, posControl.pids.fw_heading.proportional);