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Dynamic D Implementation

This commit is contained in:
borisbstyle 2016-04-16 23:16:56 +02:00
parent c92f511b05
commit 1e1d445fd3
5 changed files with 27 additions and 6 deletions
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5
src/main/config/config.c
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@ -134,7 +134,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 131;
static const uint8_t EEPROM_CONF_VERSION = 132;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -178,7 +178,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
pidProfile->yaw_lpf_hz = 70.0f;
pidProfile->dterm_average_count = 4;
pidProfile->dterm_average_count = 0;
pidProfile->dynamic_dterm_threshold = 20;
pidProfile->rollPitchItermResetRate = 200;
pidProfile->yawItermResetRate = 50;
pidProfile->dterm_lpf_hz = 70.0f; // filtering ON by default

24
src/main/flight/pid.c
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@ -133,6 +133,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
static float lastErrorForDelta[3];
static float deltaState[3][DELTA_MAX_SAMPLES];
float delta;
float dynamicDTermGain;
int axis;
float horizonLevelStrength = 1;
@ -141,7 +142,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// Scaling factors for Pids to match rewrite and use same defaults
static const float luxPTermScale = 1.0f / 128;
static const float luxITermScale = 1000000.0f / 0x1000000;
static const float luxDTermScale = (0.000001f * (float)0xFFFF) / 256;
static const float luxDTermScale = (0.000001f * (float)0xFFFF) / 508;
if (FLIGHT_MODE(HORIZON_MODE)) {
// Figure out the raw stick positions
@ -245,6 +246,8 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// would be scaled by different dt each time. Division by dT fixes that.
delta *= (1.0f / getdT());
// Several different Dterm filtering methods to prevent noise. All of them can be combined
// Filter delta
if (pidProfile->dterm_lpf_hz) delta = filterApplyPt1(delta, &deltaFilterState[axis], pidProfile->dterm_lpf_hz, getdT());
@ -252,6 +255,12 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
if (pidProfile->dterm_average_count) delta = filterApplyAveragef(delta, pidProfile->dterm_average_count, deltaState[axis]) * 2;
DTerm = constrainf(luxDTermScale * delta * (float)pidProfile->D8[axis] * tpaFactor, -300.0f, 300.0f);
// Dynamic D Implementation
if (pidProfile->dynamic_dterm_threshold) {
dynamicDTermGain = constrainf(ABS(DTerm) / pidProfile->dynamic_dterm_threshold, 0.0f, 1.0f);
DTerm *= dynamicDTermGain;
}
}
// -----calculate total PID output
@ -283,6 +292,7 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
static int32_t lastErrorForDelta[3] = { 0, 0, 0 };
static int32_t deltaState[3][DELTA_MAX_SAMPLES];
int32_t AngleRateTmp, RateError, gyroRate;
int32_t dynamicDTermGain;
int8_t horizonLevelStrength = 100;
@ -389,15 +399,23 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
// 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.
delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetPidLooptime >> 4))) >> 6;
delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetPidLooptime >> 4))) >> 5;
// Several different Dterm filtering methods to prevent noise. All of them can be combined
// Filter delta
if (pidProfile->dterm_lpf_hz) delta = filterApplyPt1((float)delta, &deltaFilterState[axis], pidProfile->dterm_lpf_hz, getdT());
// Apply moving average
if (pidProfile->dterm_average_count) delta = filterApplyAverage(delta, pidProfile->dterm_average_count, deltaState[axis]) * 2;
if (pidProfile->dterm_average_count) delta = filterApplyAverage(delta, pidProfile->dterm_average_count, deltaState[axis]);
DTerm = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
// Dynamic D Implementation
if (pidProfile->dynamic_dterm_threshold) {
dynamicDTermGain = constrain((ABS(DTerm) << 7) / pidProfile->dynamic_dterm_threshold, 0, 1 << 7);
DTerm = (DTerm * dynamicDTermGain) >> 7;
}
}
// -----calculate total PID output

1
src/main/flight/pid.h
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@ -71,6 +71,7 @@ typedef struct pidProfile_s {
uint8_t deltaMethod; // Alternative delta Calculation
uint16_t yaw_p_limit;
uint8_t dterm_average_count; // Configurable delta count for dterm
uint8_t dynamic_dterm_threshold;
#ifdef GTUNE
uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune

1
src/main/io/serial_cli.c
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@ -722,6 +722,7 @@ const clivalue_t valueTable[] = {
{ "pid_delta_method", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.deltaMethod, .config.lookup = { TABLE_DELTA_METHOD } },
{ "dterm_lowpass_hz", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
{ "dterm_average_count", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_average_count, .config.minmax = {0, 12 } },
{ "dynamic_dterm_threshold", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dynamic_dterm_threshold, .config.minmax = {0, 100 } },
{ "iterm_reset_degrees", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermResetRate, .config.minmax = {50, 1000 } },
{ "yaw_iterm_reset_degrees", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermResetRate, .config.minmax = {25, 1000 } },
{ "yaw_lowpass_hz", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },

2
src/main/version.h
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@ -17,7 +17,7 @@
#define FC_VERSION_MAJOR 2 // increment when a major release is made (big new feature, etc)
#define FC_VERSION_MINOR 6 // increment when a minor release is made (small new feature, change etc)
#define FC_VERSION_PATCH_LEVEL 1 // increment when a bug is fixed
#define FC_VERSION_PATCH_LEVEL 2 // increment when a bug is fixed
#define STR_HELPER(x) #x
#define STR(x) STR_HELPER(x)