Merge pull request #429 from MJ666/MultiWii_PID_32
MultiWi 2.3 PID controller port
This commit is contained in:
Dominic Clifton
commit
153f6483e2
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@ -42,6 +42,7 @@
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#include "io/gps.h"
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extern uint16_t cycleTime;
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extern uint8_t motorCount;
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int16_t heading, magHold;
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int16_t axisPID[3];
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@ -287,8 +288,224 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
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}
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}
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#define GYRO_P_MAX 300
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#define GYRO_I_MAX 256
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static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
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rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
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{
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UNUSED(rxConfig);
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int axis, prop = 0;
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int32_t rc, error, errorAngle;
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int32_t PTerm, ITerm, PTermACC, ITermACC, DTerm;
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static int16_t lastGyro[2] = { 0, 0 };
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static int32_t delta1[2] = { 0, 0 }, delta2[2] = { 0, 0 };
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int32_t delta;
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if (FLIGHT_MODE(HORIZON_MODE)) prop = MIN(MAX(ABS(rcCommand[PITCH]), ABS(rcCommand[ROLL])), 512);
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// PITCH & ROLL
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for (axis = 0; axis < 2; axis++) {
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rc = rcCommand[axis] << 1;
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error = rc - (gyroData[axis] / 4);
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errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp 16 bits is ok here
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if (ABS(gyroData[axis]) > (640 * 4)) errorGyroI[axis] = 0;
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ITerm = (errorGyroI[axis] >> 7) * pidProfile->I8[axis] >> 6; // 16 bits is ok here 16000/125 = 128 ; 128*250 = 32000
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PTerm = (int32_t)rc * pidProfile->P8[axis] >> 6;
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if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) { // axis relying on ACC
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// 50 degrees max inclination
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#ifdef GPS
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errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
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#else
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errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
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#endif
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#ifdef AUTOTUNE
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if (shouldAutotune()) {
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errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
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}
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#endif
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errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp //16 bits is ok here
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PTermACC = ((int32_t)errorAngle * pidProfile->P8[PIDLEVEL]) >> 7; // 32 bits is needed for calculation: errorAngle*P8 could exceed 32768 16 bits is ok for result
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int16_t limit = pidProfile->D8[PIDLEVEL] * 5;
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PTermACC = constrain(PTermACC, -limit, +limit);
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ITermACC = ((int32_t)errorAngleI[axis] * pidProfile->I8[PIDLEVEL]) >> 12; // 32 bits is needed for calculation:10000*I8 could exceed 32768 16 bits is ok for result
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ITerm = ITermACC + ((ITerm - ITermACC) * prop >> 9);
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PTerm = PTermACC + ((PTerm - PTermACC) * prop >> 9);
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}
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PTerm -= ((int32_t)(gyroData[axis] / 4) * dynP8[axis]) >> 6; // 32 bits is needed for calculation
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delta = (gyroData[axis] - lastGyro[axis]) / 4; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
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lastGyro[axis] = gyroData[axis];
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DTerm = delta1[axis] + delta2[axis] + delta;
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delta2[axis] = delta1[axis];
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delta1[axis] = delta;
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DTerm = ((int32_t)DTerm * dynD8[axis]) >> 5; // 32 bits is needed for calculation
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axisPID[axis] = PTerm + ITerm - DTerm;
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#ifdef BLACKBOX
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axisPID_P[axis] = PTerm;
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axisPID_I[axis] = ITerm;
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axisPID_D[axis] = DTerm;
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#endif
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}
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//YAW
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rc = (int32_t)rcCommand[FD_YAW] * (2 * controlRateConfig->yawRate + 30) >> 5;
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#ifdef ALIENWII32
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error = rc - gyroData[FD_YAW];
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#else
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error = rc - (gyroData[FD_YAW] / 4);
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#endif
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errorGyroI[FD_YAW] += (int32_t)error * pidProfile->I8[FD_YAW];
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errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW], 2 - ((int32_t)1 << 28), -2 + ((int32_t)1 << 28));
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if (ABS(rc) > 50) errorGyroI[FD_YAW] = 0;
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PTerm = (int32_t)error * pidProfile->P8[FD_YAW] >> 6;
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// Constrain YAW by D value if not servo driven in that case servolimits apply
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if(motorCount > 3) {
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int16_t limit = GYRO_P_MAX - pidProfile->D8[FD_YAW];
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PTerm = constrain(PTerm, -limit, +limit);
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}
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ITerm = constrain((int16_t)(errorGyroI[FD_YAW] >> 13), -GYRO_I_MAX, +GYRO_I_MAX);
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axisPID[FD_YAW] = PTerm + ITerm;
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#ifdef BLACKBOX
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axisPID_P[FD_YAW] = PTerm;
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axisPID_I[FD_YAW] = ITerm;
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axisPID_D[FD_YAW] = DTerm;
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#endif
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}
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static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
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uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
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{
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UNUSED(rxConfig);
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int axis, prop;
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int32_t rc, error, errorAngle;
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int32_t PTerm, ITerm, PTermACC = 0, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
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static int16_t lastGyro[2] = { 0, 0 };
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static int32_t delta1[2] = { 0, 0 }, delta2[2] = { 0, 0 };
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int32_t deltaSum;
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int32_t delta;
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UNUSED(controlRateConfig);
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// **** PITCH & ROLL ****
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prop = MIN(MAX(ABS(rcCommand[PITCH]), ABS(rcCommand[ROLL])), 500); // range [0;500]
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for (axis = 0; axis < 2; axis++) {
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if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) { // MODE relying on ACC
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// observe max inclination
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#ifdef GPS
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errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
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#else
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errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
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#endif
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#ifdef AUTOTUNE
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if (shouldAutotune()) {
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errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
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}
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#endif
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PTermACC = errorAngle * pidProfile->P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
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PTermACC = constrain(PTermACC, -pidProfile->D8[PIDLEVEL] * 5, +pidProfile->D8[PIDLEVEL] * 5);
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errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp
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ITermACC = (errorAngleI[axis] * pidProfile->I8[PIDLEVEL]) >> 12;
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}
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if (!FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) { // MODE relying on GYRO
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error = (int32_t) rcCommand[axis] * 10 * 8 / pidProfile->P8[axis];
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error -= gyroData[axis] / 4;
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PTermGYRO = rcCommand[axis];
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errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
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if (ABS(gyroData[axis]) > (640 * 4))
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errorGyroI[axis] = 0;
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ITermGYRO = (errorGyroI[axis] / 125 * pidProfile->I8[axis]) / 64;
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}
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if (FLIGHT_MODE(HORIZON_MODE)) {
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PTerm = (PTermACC * (500 - prop) + PTermGYRO * prop) / 500;
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ITerm = (ITermACC * (500 - prop) + ITermGYRO * prop) / 500;
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} else {
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if (FLIGHT_MODE(ANGLE_MODE)) {
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PTerm = PTermACC;
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ITerm = ITermACC;
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} else {
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PTerm = PTermGYRO;
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ITerm = ITermGYRO;
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}
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}
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PTerm -= ((int32_t)gyroData[axis] / 4) * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
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delta = (gyroData[axis] - lastGyro[axis]) / 4;
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lastGyro[axis] = gyroData[axis];
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deltaSum = delta1[axis] + delta2[axis] + delta;
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delta2[axis] = delta1[axis];
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delta1[axis] = delta;
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DTerm = (deltaSum * dynD8[axis]) / 32;
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axisPID[axis] = PTerm + ITerm - DTerm;
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#ifdef BLACKBOX
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axisPID_P[axis] = PTerm;
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axisPID_I[axis] = ITerm;
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axisPID_D[axis] = DTerm;
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#endif
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}
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//YAW
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rc = (int32_t)rcCommand[FD_YAW] * (2 * controlRateConfig->yawRate + 30) >> 5;
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#ifdef ALIENWII32
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error = rc - gyroData[FD_YAW];
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#else
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error = rc - (gyroData[FD_YAW] / 4);
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#endif
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errorGyroI[FD_YAW] += (int32_t)error * pidProfile->I8[FD_YAW];
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errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW], 2 - ((int32_t)1 << 28), -2 + ((int32_t)1 << 28));
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if (ABS(rc) > 50) errorGyroI[FD_YAW] = 0;
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PTerm = (int32_t)error * pidProfile->P8[FD_YAW] >> 6;
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// Constrain YAW by D value if not servo driven in that case servolimits apply
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if(motorCount > 3) {
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int16_t limit = GYRO_P_MAX - pidProfile->D8[FD_YAW];
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PTerm = constrain(PTerm, -limit, +limit);
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}
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ITerm = constrain((int16_t)(errorGyroI[FD_YAW] >> 13), -GYRO_I_MAX, +GYRO_I_MAX);
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axisPID[FD_YAW] = PTerm + ITerm;
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#ifdef BLACKBOX
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axisPID_P[FD_YAW] = PTerm;
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axisPID_I[FD_YAW] = ITerm;
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axisPID_D[FD_YAW] = DTerm;
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#endif
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}
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static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
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rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
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{
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@ -390,6 +607,12 @@ void setPIDController(int type)
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break;
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case 2:
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pid_controller = pidBaseflight;
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break;
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case 3:
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pid_controller = pidMultiWii23;
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break;
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case 4:
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pid_controller = pidMultiWiiHybrid;
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}
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}
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@ -369,7 +369,7 @@ const clivalue_t valueTable[] = {
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{ "mag_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.mag_hardware, 0, MAG_NONE },
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{ "mag_declination", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, -18000, 18000 },
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{ "pid_controller", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidController, 0, 2 },
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{ "pid_controller", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidController, 0, 4 },
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{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], 0, 200 },
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{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], 0, 200 },
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