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Remove YawPtermState filter

This commit is contained in:
borisbstyle 2015-11-06 00:01:47 +01:00
parent 06704a1082
commit 1a667442f2
2 changed files with 1 additions and 10 deletions
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2
src/main/common/filter.h
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@ -5,7 +5,7 @@
* Author: borisb * Author: borisb
*/ */
#define YAW_PTERM_FILTER 30
typedef struct filterStatePt1_s { typedef struct filterStatePt1_s {
float state; float state;

9
src/main/flight/pid.c
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@ -96,7 +96,6 @@ void pidResetErrorGyro(void)
const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH }; const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
static filterStatePt1_t DTermState[3]; static filterStatePt1_t DTermState[3];
static filterStatePt1_t yawPTermState;
static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig) uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
@ -173,10 +172,6 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// -----calculate P component // -----calculate P component
PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100; PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100;
if (axis == YAW) {
PTerm = filterApplyPt1(PTerm, &yawPTermState, YAW_PTERM_FILTER, dT);
}
// -----calculate I component. // -----calculate I component.
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f); errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f);
@ -289,10 +284,6 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
// -----calculate P component // -----calculate P component
PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7; PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
if (axis == YAW) {
PTerm = filterApplyPt1(PTerm, &yawPTermState, YAW_PTERM_FILTER, dT);
}
// -----calculate I component // -----calculate I component
// there should be no division before accumulating the error to integrator, because the precision would be reduced. // there should be no division before accumulating the error to integrator, because the precision would be reduced.
// Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used. // Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.