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atbetaflight
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Fix floating point tpa bug

This commit is contained in:
borisbstyle 2016-03-31 00:26:32 +02:00
parent ad0acf3f5f
commit 2689208408
3 changed files with 3 additions and 4 deletions
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2
src/main/config/config.c
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@ -305,7 +305,7 @@ void resetSerialConfig(serialConfig_t *serialConfig)
static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) { static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
controlRateConfig->rcRate8 = 100; controlRateConfig->rcRate8 = 100;
controlRateConfig->rcExpo8 = 20; controlRateConfig->rcExpo8 = 60;
controlRateConfig->thrMid8 = 50; controlRateConfig->thrMid8 = 50;
controlRateConfig->thrExpo8 = 0; controlRateConfig->thrExpo8 = 0;
controlRateConfig->dynThrPID = 0; controlRateConfig->dynThrPID = 0;

3
src/main/flight/pid.c
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@ -60,7 +60,6 @@ int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction // PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
uint8_t dynP8[3], dynI8[3], dynD8[3], PIDweight[3]; uint8_t dynP8[3], dynI8[3], dynD8[3], PIDweight[3];
float tpaFactor;
static int32_t errorGyroI[3], errorGyroILimit[3]; static int32_t errorGyroI[3], errorGyroILimit[3];
static float errorGyroIf[3], errorGyroIfLimit[3]; static float errorGyroIf[3], errorGyroIfLimit[3];
@ -137,6 +136,8 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
int axis; int axis;
float horizonLevelStrength = 1; float horizonLevelStrength = 1;
float tpaFactor = PIDweight[0] / 100.0f; // tpa is now float
if (FLIGHT_MODE(HORIZON_MODE)) { if (FLIGHT_MODE(HORIZON_MODE)) {
// Figure out the raw stick positions // Figure out the raw stick positions
const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig->midrc)); const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig->midrc));

2
src/main/mw.c
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@ -113,7 +113,6 @@ static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the m
extern uint32_t currentTime; extern uint32_t currentTime;
extern uint8_t dynP8[3], dynI8[3], dynD8[3], PIDweight[3]; extern uint8_t dynP8[3], dynI8[3], dynD8[3], PIDweight[3];
extern float tpaFactor;
extern bool antiWindupProtection; extern bool antiWindupProtection;
uint16_t filteredCycleTime; uint16_t filteredCycleTime;
@ -233,7 +232,6 @@ void annexCode(void)
prop2 = 100 - (uint16_t)currentControlRateProfile->dynThrPID * (rcData[THROTTLE] - currentControlRateProfile->tpa_breakpoint) / (2000 - currentControlRateProfile->tpa_breakpoint); prop2 = 100 - (uint16_t)currentControlRateProfile->dynThrPID * (rcData[THROTTLE] - currentControlRateProfile->tpa_breakpoint) / (2000 - currentControlRateProfile->tpa_breakpoint);
} else { } else {
prop2 = 100 - currentControlRateProfile->dynThrPID; prop2 = 100 - currentControlRateProfile->dynThrPID;
tpaFactor = prop2 / 100.0f;
} }
} }