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Finalize Blackbox yaw output for Harakiri PID controller 

Minor code updates and cleanup
Documentation update
This commit is contained in:
Michael Jakob 2015-01-27 14:13:04 +01:00
parent db8d539cbb
commit 124ae1f590
2 changed files with 15 additions and 26 deletions
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4
docs/PID tuning.md
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@ -126,14 +126,14 @@ For the ALIENWII32 targets the gyroscale is removed for more yaw authority. This
PID Controller 5 is an port of the PID controller from the Harakiri firmware. PID Controller 5 is an port of the PID controller from the Harakiri firmware.
The algorithm is leveraging more floating point math. This PID controller is also compensates for different looptimes on roll and pitch. It likely don’t need retuning of the PID values. Actually there are two settings hardcoded which are configurable via the GUI in Harakiri: The algorithm is leveraging more floating point math. This PID controller also compensates for different looptimes on roll and pitch. It likely don’t need retuning of the PID values when looptime is changing. Actually there are two settings hardcoded which are configurable via the GUI in Harakiri:
OLD_YAW 0 // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw. OLD_YAW 0 // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw.
MAIN_CUT_HZ 12.0f // (default 12Hz, Range 1-50Hz) MAIN_CUT_HZ 12.0f // (default 12Hz, Range 1-50Hz)
The PID controller is flight tested and running well with the default PID settings. If you want do acrobatics start slowly. The PID controller is flight tested and running well with the default PID settings. If you want do acrobatics start slowly.
Yaw authority is also quite good. Only the P value is used in the yaw algorithm. Yaw authority is also quite good.

37
src/main/flight/flight.c
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@ -43,7 +43,6 @@
extern uint16_t cycleTime; extern uint16_t cycleTime;
extern uint8_t motorCount; extern uint8_t motorCount;
extern uint32_t currentTime;
int16_t heading, magHold; int16_t heading, magHold;
int16_t axisPID[3]; int16_t axisPID[3];
@ -507,16 +506,9 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
#endif #endif
} }
int32_t SpecialIntegerRoundUp(float val) // If neg value just represents a change in direction rounding to next higher number is "more" negative
{
if (val > 0) return val + 0.5f;
else if (val < 0) return val - 0.5f;
else return 0;
}
#define RCconstPI 0.159154943092f // 0.5f / M_PI; #define RCconstPI 0.159154943092f // 0.5f / M_PI;
#define OLD_YAW 0 // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw.
#define MAIN_CUT_HZ 12.0f // (default 12Hz, Range 1-50Hz) #define MAIN_CUT_HZ 12.0f // (default 12Hz, Range 1-50Hz)
#define OLD_YAW 0 // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw.
static void pidHarakiri(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination, static void pidHarakiri(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig) rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
@ -527,7 +519,6 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
float PTerm = 0, ITerm = 0, DTerm = 0, PTermACC = 0, ITermACC = 0, ITermGYRO = 0, error = 0, prop = 0; float PTerm = 0, ITerm = 0, DTerm = 0, PTermACC = 0, ITermACC = 0, ITermGYRO = 0, error = 0, prop = 0;
static float lastGyro[2] = {0, 0}, lastDTerm[2] = {0, 0}; static float lastGyro[2] = {0, 0}, lastDTerm[2] = {0, 0};
float tmp0flt; float tmp0flt;
static uint32_t previousTime;
int32_t tmp0; int32_t tmp0;
uint8_t axis; uint8_t axis;
float ACCDeltaTimeINS = 0; float ACCDeltaTimeINS = 0;
@ -535,8 +526,7 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
// MainDptCut = RCconstPI / (float)cfg.maincuthz; // Initialize Cut off frequencies for mainpid D // MainDptCut = RCconstPI / (float)cfg.maincuthz; // Initialize Cut off frequencies for mainpid D
MainDptCut = RCconstPI / MAIN_CUT_HZ; // maincuthz (default 12Hz, Range 1-50Hz), hardcoded for now MainDptCut = RCconstPI / MAIN_CUT_HZ; // maincuthz (default 12Hz, Range 1-50Hz), hardcoded for now
FLOATcycleTime = (float)constrain(currentTime - previousTime, 1, 100000); // 1us - 100ms FLOATcycleTime = (float)constrain(cycleTime, 1, 100000); // 1us - 100ms
previousTime = currentTime;
ACCDeltaTimeINS = FLOATcycleTime * 0.000001f; // ACCDeltaTimeINS is in seconds now ACCDeltaTimeINS = FLOATcycleTime * 0.000001f; // ACCDeltaTimeINS is in seconds now
RCfactor = ACCDeltaTimeINS / (MainDptCut + ACCDeltaTimeINS); // used for pt1 element RCfactor = ACCDeltaTimeINS / (MainDptCut + ACCDeltaTimeINS); // used for pt1 element
@ -586,7 +576,7 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
lastGyro[axis] = gyroData[axis]; lastGyro[axis] = gyroData[axis];
lastDTerm[axis] += RCfactor * (delta - lastDTerm[axis]); lastDTerm[axis] += RCfactor * (delta - lastDTerm[axis]);
DTerm = lastDTerm[axis] * dynD8[axis] * 0.00007f; DTerm = lastDTerm[axis] * dynD8[axis] * 0.00007f;
axisPID[axis] = SpecialIntegerRoundUp(PTerm + ITerm - DTerm); // Round up result. axisPID[axis] = lrintf(PTerm + ITerm - DTerm); // Round up result.
#ifdef BLACKBOX #ifdef BLACKBOX
axisPID_P[axis] = PTerm; axisPID_P[axis] = PTerm;
@ -597,37 +587,36 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
tmp0flt = (uint16_t)FLOATcycleTime & (uint16_t)0xFFFC; // Filter last 2 bit jitter tmp0flt = (uint16_t)FLOATcycleTime & (uint16_t)0xFFFC; // Filter last 2 bit jitter
tmp0flt /= 3000.0f; tmp0flt /= 3000.0f;
if (OLD_YAW) { // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw. hardrcoded for now if (OLD_YAW) { // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw. hardcoded for now
PTerm = ((int32_t)pidProfile->P8[FD_YAW] * (100 - (int32_t)controlRateConfig->yawRate * (int32_t)ABS(rcCommand[FD_YAW]) / 500)) / 100; PTerm = ((int32_t)pidProfile->P8[FD_YAW] * (100 - (int32_t)controlRateConfig->yawRate * (int32_t)ABS(rcCommand[FD_YAW]) / 500)) / 100;
tmp0 = SpecialIntegerRoundUp(gyroData[FD_YAW] * 0.25f); tmp0 = lrintf(gyroData[FD_YAW] * 0.25f);
axisPID[FD_YAW] = rcCommand[FD_YAW] - tmp0 * PTerm / 80; PTerm = rcCommand[FD_YAW] - tmp0 * PTerm / 80;
if ((ABS(tmp0) > 640) || (ABS(rcCommand[FD_YAW]) > 100)) if ((ABS(tmp0) > 640) || (ABS(rcCommand[FD_YAW]) > 100)) errorGyroI[FD_YAW] = 0;
errorGyroI[FD_YAW] = 0;
else { else {
error = ((int32_t)rcCommand[FD_YAW] * 80 / (int32_t)pidProfile->P8[FD_YAW]) - tmp0; error = ((int32_t)rcCommand[FD_YAW] * 80 / (int32_t)pidProfile->P8[FD_YAW]) - tmp0;
errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW] + (int32_t)(error * tmp0flt), -16000, +16000); // WindUp errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW] + (int32_t)(error * tmp0flt), -16000, +16000); // WindUp
axisPID[FD_YAW] += (errorGyroI[FD_YAW] / 125 * pidProfile->I8[FD_YAW]) >> 6; ITerm = (errorGyroI[FD_YAW] / 125 * pidProfile->I8[FD_YAW]) >> 6;
} }
} }
else { else {
tmp0 = ((int32_t)rcCommand[FD_YAW] * (((int32_t)controlRateConfig->yawRate << 1) + 40)) >> 5; tmp0 = ((int32_t)rcCommand[FD_YAW] * (((int32_t)controlRateConfig->yawRate << 1) + 40)) >> 5;
error = tmp0 - SpecialIntegerRoundUp(gyroData[FD_YAW] * 0.25f); // Less Gyrojitter works actually better error = tmp0 - lrintf(gyroData[FD_YAW] * 0.25f); // Less Gyrojitter works actually better
if (ABS(tmp0) > 50) errorGyroI[FD_YAW] = 0; if (ABS(tmp0) > 50) errorGyroI[FD_YAW] = 0;
else errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW] + (int32_t)(error * (float)pidProfile->I8[FD_YAW] * tmp0flt), -268435454, +268435454); else errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW] + (int32_t)(error * (float)pidProfile->I8[FD_YAW] * tmp0flt), -268435454, +268435454);
axisPID[FD_YAW] = constrain(errorGyroI[FD_YAW] >> 13, -GYRO_I_MAX, +GYRO_I_MAX); ITerm = constrain(errorGyroI[FD_YAW] >> 13, -GYRO_I_MAX, +GYRO_I_MAX);
PTerm = ((int32_t)error * (int32_t)pidProfile->P8[FD_YAW]) >> 6; PTerm = ((int32_t)error * (int32_t)pidProfile->P8[FD_YAW]) >> 6;
if(motorCount > 3) { // Constrain FD_YAW by D value if not servo driven in that case servolimits apply if(motorCount > 3) { // Constrain FD_YAW by D value if not servo driven in that case servolimits apply
tmp0 = 300; tmp0 = 300;
if (pidProfile->D8[FD_YAW]) tmp0 -= (int32_t)pidProfile->D8[FD_YAW]; if (pidProfile->D8[FD_YAW]) tmp0 -= (int32_t)pidProfile->D8[FD_YAW];
PTerm = constrain(PTerm, -tmp0, tmp0); PTerm = constrain(PTerm, -tmp0, tmp0);
} }
axisPID[FD_YAW] += PTerm;
} }
axisPID[FD_YAW] = SpecialIntegerRoundUp(axisPID[FD_YAW]); // Round up result. axisPID[FD_YAW] = PTerm + ITerm;
axisPID[FD_YAW] = lrintf(axisPID[FD_YAW]); // Round up result.
#ifdef BLACKBOX #ifdef BLACKBOX
axisPID_P[FD_YAW] = PTerm; axisPID_P[FD_YAW] = PTerm;
axisPID_I[FD_YAW] = 0; axisPID_I[FD_YAW] = ITerm;
axisPID_D[FD_YAW] = 0; axisPID_D[FD_YAW] = 0;
#endif #endif
} }