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Luxfloat Optimisation and new defaults 

Remove constraining of delta

Yaw D default to 10

Default change and rebase with master
This commit is contained in:
borisbstyle 2015-07-09 23:56:11 +02:00
parent d282ec3483
commit 07b9aceb7c
2 changed files with 17 additions and 16 deletions
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18
src/main/config/config.c
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@ -175,15 +175,15 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->pterm_cut_hz = 0;
pidProfile->dterm_cut_hz = 0;
pidProfile->P_f[ROLL] = 2.5f; // new PID with preliminary defaults test carefully
pidProfile->I_f[ROLL] = 0.6f;
pidProfile->D_f[ROLL] = 0.06f;
pidProfile->P_f[PITCH] = 2.5f;
pidProfile->I_f[PITCH] = 0.6f;
pidProfile->D_f[PITCH] = 0.06f;
pidProfile->P_f[YAW] = 8.0f;
pidProfile->I_f[YAW] = 0.5f;
pidProfile->D_f[YAW] = 0.05f;
pidProfile->P_f[ROLL] = 1.5f; // new PID with preliminary defaults test carefully
pidProfile->I_f[ROLL] = 0.4f;
pidProfile->D_f[ROLL] = 0.03f;
pidProfile->P_f[PITCH] = 1.5f;
pidProfile->I_f[PITCH] = 0.4f;
pidProfile->D_f[PITCH] = 0.03f;
pidProfile->P_f[YAW] = 2.5f;
pidProfile->I_f[YAW] = 1.0f;
pidProfile->D_f[YAW] = 0.00f;
pidProfile->A_level = 5.0f;
pidProfile->H_level = 3.0f;
pidProfile->H_sensitivity = 75;

15
src/main/flight/pid.c
View File

@ -110,7 +110,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
float RateError, errorAngle, AngleRate, gyroRate;
float ITerm,PTerm,DTerm;
int32_t stickPosAil, stickPosEle, mostDeflectedPos;
static float lastGyroRate[3];
static float lastError[3];
static float delta1[3], delta2[3];
float delta, deltaSum;
int axis;
@ -190,16 +190,17 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
if (pidProfile->pterm_cut_hz) {
PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
}
// -----calculate I component. Note that PIDweight is divided by 10, because it is simplified formule from the previous multiply by 10
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * PIDweight[axis] / 10, -250.0f, 250.0f);
// -----calculate I component.
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f);
// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
// I coefficient (I8) moved before integration to make limiting independent from PID settings
ITerm = errorGyroIf[axis];
//-----calculate D-term
delta = gyroRate - lastGyroRate[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
lastGyroRate[axis] = gyroRate;
delta = RateError - lastError[axis];
lastError[axis] = RateError;
// Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
// would be scaled by different dt each time. Division by dT fixes that.
@ -217,12 +218,12 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
DTerm = constrainf((deltaSum / 3.0f) * pidProfile->D_f[axis] * PIDweight[axis] / 100, -300.0f, 300.0f);
// -----calculate total PID output
axisPID[axis] = constrain(lrintf(PTerm + ITerm - DTerm), -1000, 1000);
axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -1000, 1000);
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;
axisPID_I[axis] = ITerm;
axisPID_D[axis] = -DTerm;
axisPID_D[axis] = DTerm;
#endif
}
}