Put each PID in its own .c file
This commit is contained in:
Martin Budden
borisbstyle
parent
7bbb4e59f9
commit
2b05cbf916
2
Makefile
2
Makefile
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@ -392,6 +392,8 @@ COMMON_SRC = \
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flight/imu.c \
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flight/imu.c \
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flight/mixer.c \
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flight/mixer.c \
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flight/pid.c \
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flight/pid.c \
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flight/pid_legacy.c \
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flight/pid_betaflight.c \
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io/beeper.c \
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io/beeper.c \
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io/rc_controls.c \
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io/rc_controls.c \
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io/rc_curves.c \
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io/rc_curves.c \
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@ -47,32 +47,25 @@
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#include "config/runtime_config.h"
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#include "config/runtime_config.h"
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extern uint8_t motorCount;
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uint32_t targetPidLooptime;
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uint32_t targetPidLooptime;
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extern float setpointRate[3];
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extern float rcInput[3];
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static bool pidStabilisationEnabled;
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bool pidStabilisationEnabled;
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int16_t axisPID[3];
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int16_t axisPID[3];
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// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
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uint8_t PIDweight[3];
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#ifdef BLACKBOX
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#ifdef BLACKBOX
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int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
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int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
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#endif
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#endif
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// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
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int32_t errorGyroI[3];
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uint8_t PIDweight[3];
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float errorGyroIf[3];
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static int32_t errorGyroI[3];
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static float errorGyroIf[3];
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static void pidLegacy(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
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const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig);
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#ifdef SKIP_PID_FLOAT
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#ifdef SKIP_PID_FLOAT
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pidControllerFuncPtr pid_controller = pidLegacy; // which pid controller are we using
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pidControllerFuncPtr pid_controller = pidLegacy; // which pid controller are we using
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#else
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#else
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static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
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const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig);
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pidControllerFuncPtr pid_controller = pidBetaflight; // which pid controller are we using
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pidControllerFuncPtr pid_controller = pidBetaflight; // which pid controller are we using
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#endif
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#endif
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@ -94,7 +87,7 @@ void pidStabilisationState(pidStabilisationState_e pidControllerState)
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pidStabilisationEnabled = (pidControllerState == PID_STABILISATION_ON) ? true : false;
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pidStabilisationEnabled = (pidControllerState == PID_STABILISATION_ON) ? true : false;
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}
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}
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float getdT (void)
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float getdT(void)
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{
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{
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static float dT;
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static float dT;
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if (!dT) dT = (float)targetPidLooptime * 0.000001f;
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if (!dT) dT = (float)targetPidLooptime * 0.000001f;
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@ -104,13 +97,15 @@ float getdT (void)
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const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
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const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
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static pt1Filter_t deltaFilter[3];
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pt1Filter_t deltaFilter[3];
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static pt1Filter_t yawFilter;
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pt1Filter_t yawFilter;
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static biquadFilter_t dtermFilterLpf[3];
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biquadFilter_t dtermFilterLpf[3];
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static biquadFilter_t dtermFilterNotch[3];
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biquadFilter_t dtermFilterNotch[3];
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static bool dtermNotchInitialised, dtermBiquadLpfInitialised;
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bool dtermNotchInitialised;
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bool dtermBiquadLpfInitialised;
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void initFilters(const pidProfile_t *pidProfile) {
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void initFilters(const pidProfile_t *pidProfile)
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{
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int axis;
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int axis;
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if (pidProfile->dterm_notch_hz && !dtermNotchInitialised) {
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if (pidProfile->dterm_notch_hz && !dtermNotchInitialised) {
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@ -125,361 +120,6 @@ void initFilters(const pidProfile_t *pidProfile) {
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}
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}
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}
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}
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#ifndef SKIP_PID_FLOAT
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// Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage. Based on 2DOF reference design (matlab)
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static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
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const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
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{
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float errorRate = 0, rP = 0, rD = 0, PVRate = 0;
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float ITerm,PTerm,DTerm;
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static float lastRateError[2];
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static float Kp[3], Ki[3], Kd[3], b[3], c[3], rollPitchMaxVelocity, yawMaxVelocity, previousSetpoint[3];
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float delta;
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int axis;
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float horizonLevelStrength = 1;
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float tpaFactor = PIDweight[0] / 100.0f; // tpa is now float
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initFilters(pidProfile);
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if (FLIGHT_MODE(HORIZON_MODE)) {
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// Figure out the raw stick positions
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const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig->midrc));
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const int32_t stickPosEle = ABS(getRcStickDeflection(FD_PITCH, rxConfig->midrc));
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const int32_t mostDeflectedPos = MAX(stickPosAil, stickPosEle);
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// Progressively turn off the horizon self level strength as the stick is banged over
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horizonLevelStrength = (float)(500 - mostDeflectedPos) / 500; // 1 at centre stick, 0 = max stick deflection
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if(pidProfile->D8[PIDLEVEL] == 0){
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horizonLevelStrength = 0;
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} else {
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horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (100 / pidProfile->D8[PIDLEVEL])) + 1, 0, 1);
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}
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}
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// Yet Highly experimental and under test and development
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// Throttle coupled to Igain like inverted TPA // 50hz calculation (should cover all rx protocols)
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static float kiThrottleGain = 1.0f;
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if (pidProfile->itermThrottleGain) {
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const uint16_t maxLoopCount = 20000 / targetPidLooptime;
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const float throttleItermGain = (float)pidProfile->itermThrottleGain * 0.001f;
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static int16_t previousThrottle;
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static uint16_t loopIncrement;
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if (loopIncrement >= maxLoopCount) {
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kiThrottleGain = 1.0f + constrainf((float)(ABS(rcCommand[THROTTLE] - previousThrottle)) * throttleItermGain, 0.0f, 5.0f); // Limit to factor 5
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previousThrottle = rcCommand[THROTTLE];
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loopIncrement = 0;
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} else {
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loopIncrement++;
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}
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}
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// ----------PID controller----------
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for (axis = 0; axis < 3; axis++) {
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static uint8_t configP[3], configI[3], configD[3];
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// Prevent unnecessary computing and check for changed PIDs. No need for individual checks. Only pids is fine for now
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// Prepare all parameters for PID controller
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if ((pidProfile->P8[axis] != configP[axis]) || (pidProfile->I8[axis] != configI[axis]) || (pidProfile->D8[axis] != configD[axis])) {
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Kp[axis] = PTERM_SCALE * pidProfile->P8[axis];
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Ki[axis] = ITERM_SCALE * pidProfile->I8[axis];
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Kd[axis] = DTERM_SCALE * pidProfile->D8[axis];
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b[axis] = pidProfile->ptermSetpointWeight / 100.0f;
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c[axis] = pidProfile->dtermSetpointWeight / 100.0f;
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yawMaxVelocity = pidProfile->yawRateAccelLimit * 1000 * getdT();
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rollPitchMaxVelocity = pidProfile->rateAccelLimit * 1000 * getdT();
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configP[axis] = pidProfile->P8[axis];
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configI[axis] = pidProfile->I8[axis];
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configD[axis] = pidProfile->D8[axis];
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}
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// Limit abrupt yaw inputs / stops
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float maxVelocity = (axis == YAW) ? yawMaxVelocity : rollPitchMaxVelocity;
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if (maxVelocity) {
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float currentVelocity = setpointRate[axis] - previousSetpoint[axis];
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if (ABS(currentVelocity) > maxVelocity) {
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setpointRate[axis] = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity : previousSetpoint[axis] - maxVelocity;
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}
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previousSetpoint[axis] = setpointRate[axis];
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}
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// Yaw control is GYRO based, direct sticks control is applied to rate PID
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if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
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// calculate error angle and limit the angle to the max inclination
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#ifdef GPS
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const float errorAngle = (constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
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#else
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const float errorAngle = (constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
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#endif
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if (FLIGHT_MODE(ANGLE_MODE)) {
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// ANGLE mode - control is angle based, so control loop is needed
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setpointRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 10.0f;
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} else {
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// HORIZON mode - direct sticks control is applied to rate PID
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// mix up angle error to desired AngleRate to add a little auto-level feel
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setpointRate[axis] = setpointRate[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 10.0f);
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}
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}
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PVRate = gyroADCf[axis] / 16.4f; // Process variable from gyro output in deg/sec
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// --------low-level gyro-based PID based on 2DOF PID controller. ----------
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// ---------- 2-DOF PID controller with optional filter on derivative term. b = 1 and only c can be tuned (amount derivative on measurement or error). ----------
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// Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
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// ----- calculate error / angle rates ----------
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errorRate = setpointRate[axis] - PVRate; // r - y
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rP = b[axis] * setpointRate[axis] - PVRate; // br - y
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// Slowly restore original setpoint with more stick input
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float diffRate = errorRate - rP;
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rP += diffRate * rcInput[axis];
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// Reduce Hunting effect and jittering near setpoint. Limit multiple zero crossing within deadband and lower PID affect during low error amount
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float dynReduction = tpaFactor;
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if (pidProfile->toleranceBand) {
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const float minReduction = (float)pidProfile->toleranceBandReduction / 100.0f;
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static uint8_t zeroCrossCount[3];
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static uint8_t currentErrorPolarity[3];
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if (ABS(errorRate) < pidProfile->toleranceBand) {
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if (zeroCrossCount[axis]) {
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if (currentErrorPolarity[axis] == POSITIVE_ERROR) {
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if (errorRate < 0 ) {
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zeroCrossCount[axis]--;
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currentErrorPolarity[axis] = NEGATIVE_ERROR;
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}
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} else {
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if (errorRate > 0 ) {
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zeroCrossCount[axis]--;
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currentErrorPolarity[axis] = POSITIVE_ERROR;
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}
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}
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} else {
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dynReduction *= constrainf(ABS(errorRate) / pidProfile->toleranceBand, minReduction, 1.0f);
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}
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} else {
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zeroCrossCount[axis] = pidProfile->zeroCrossAllowanceCount;
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currentErrorPolarity[axis] = (errorRate > 0) ? POSITIVE_ERROR : NEGATIVE_ERROR;
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}
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}
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// -----calculate P component
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PTerm = Kp[axis] * rP * dynReduction;
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// -----calculate I component.
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// Reduce strong Iterm accumulation during higher stick inputs
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float accumulationThreshold = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
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float setpointRateScaler = constrainf(1.0f - (1.5f * (ABS(setpointRate[axis]) / accumulationThreshold)), 0.0f, 1.0f);
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// Handle All windup Scenarios
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// limit maximum integrator value to prevent WindUp
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float itermScaler = setpointRateScaler * kiThrottleGain;
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errorGyroIf[axis] = constrainf(errorGyroIf[axis] + Ki[axis] * errorRate * getdT() * itermScaler, -250.0f, 250.0f);
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// I coefficient (I8) moved before integration to make limiting independent from PID settings
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ITerm = errorGyroIf[axis];
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//-----calculate D-term (Yaw D not yet supported)
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if (axis == YAW) {
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if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
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axisPID[axis] = lrintf(PTerm + ITerm);
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DTerm = 0.0f; // needed for blackbox
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} else {
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rD = c[axis] * setpointRate[axis] - PVRate; // cr - y
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delta = rD - lastRateError[axis];
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lastRateError[axis] = rD;
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// Divide delta by targetLooptime to get differential (ie dr/dt)
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delta *= (1.0f / getdT());
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if (debugMode == DEBUG_DTERM_FILTER) debug[axis] = Kd[axis] * delta * dynReduction;
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// Filter delta
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if (dtermNotchInitialised) delta = biquadFilterApply(&dtermFilterNotch[axis], delta);
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if (pidProfile->dterm_lpf_hz) {
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if (dtermBiquadLpfInitialised) {
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delta = biquadFilterApply(&dtermFilterLpf[axis], delta);
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} else {
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delta = pt1FilterApply4(&deltaFilter[axis], delta, pidProfile->dterm_lpf_hz, getdT());
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}
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}
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DTerm = Kd[axis] * delta * dynReduction;
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// -----calculate total PID output
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axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -900, 900);
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}
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// Disable PID control at zero throttle
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if (!pidStabilisationEnabled) axisPID[axis] = 0;
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#ifdef GTUNE
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if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
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calculate_Gtune(axis);
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}
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#endif
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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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}
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#endif
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// Legacy pid controller betaflight evolved pid rewrite based on 2.9 releae. Good for fastest cycletimes for those who believe in that. Don't expect much development in the future
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static void pidLegacy(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
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const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
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{
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int axis;
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int32_t PTerm, ITerm, DTerm, delta;
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static int32_t lastRateError[3];
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int32_t AngleRateTmp = 0, RateError = 0, gyroRate = 0;
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int8_t horizonLevelStrength = 100;
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initFilters(pidProfile);
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if (FLIGHT_MODE(HORIZON_MODE)) {
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// Figure out the raw stick positions
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const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig->midrc));
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const int32_t stickPosEle = ABS(getRcStickDeflection(FD_PITCH, rxConfig->midrc));
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const int32_t mostDeflectedPos = MAX(stickPosAil, stickPosEle);
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// Progressively turn off the horizon self level strength as the stick is banged over
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horizonLevelStrength = (500 - mostDeflectedPos) / 5; // 100 at centre stick, 0 = max stick deflection
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// Using Level D as a Sensitivity for Horizon. 0 more level to 255 more rate. Default value of 100 seems to work fine.
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// For more rate mode increase D and slower flips and rolls will be possible
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horizonLevelStrength = constrain((10 * (horizonLevelStrength - 100) * (10 * pidProfile->D8[PIDLEVEL] / 80) / 100) + 100, 0, 100);
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}
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// ----------PID controller----------
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|
||||||
for (axis = 0; axis < 3; axis++) {
|
|
||||||
|
|
||||||
// -----Get the desired angle rate depending on flight mode
|
|
||||||
AngleRateTmp = (int32_t)setpointRate[axis];
|
|
||||||
|
|
||||||
if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
|
|
||||||
// calculate error angle and limit the angle to max configured inclination
|
|
||||||
#ifdef GPS
|
|
||||||
const int32_t errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
|
|
||||||
+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis];
|
|
||||||
#else
|
|
||||||
const int32_t errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
|
|
||||||
+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis];
|
|
||||||
#endif
|
|
||||||
if (FLIGHT_MODE(ANGLE_MODE)) {
|
|
||||||
// ANGLE mode - control is angle based, so control loop is needed
|
|
||||||
AngleRateTmp = (errorAngle * pidProfile->P8[PIDLEVEL]) >> 4;
|
|
||||||
} else {
|
|
||||||
// HORIZON mode - mix up angle error to desired AngleRateTmp to add a little auto-level feel,
|
|
||||||
// horizonLevelStrength is scaled to the stick input
|
|
||||||
AngleRateTmp = AngleRateTmp + ((errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 100) >> 4);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// --------low-level gyro-based PID. ----------
|
|
||||||
// Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
|
|
||||||
// -----calculate scaled error.AngleRates
|
|
||||||
// multiplication of rcCommand corresponds to changing the sticks scaling here
|
|
||||||
gyroRate = gyroADC[axis] / 4;
|
|
||||||
|
|
||||||
RateError = AngleRateTmp - gyroRate;
|
|
||||||
|
|
||||||
// -----calculate P component
|
|
||||||
PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
|
|
||||||
|
|
||||||
// Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
|
|
||||||
if((motorCount >= 4 && pidProfile->yaw_p_limit) && axis == YAW) {
|
|
||||||
PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
|
|
||||||
}
|
|
||||||
|
|
||||||
// -----calculate I component
|
|
||||||
// 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.
|
|
||||||
// Time correction (to avoid different I scaling for different builds based on average cycle time)
|
|
||||||
// is normalized to cycle time = 2048.
|
|
||||||
// Prevent Accumulation
|
|
||||||
uint16_t resetRate = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
|
|
||||||
uint16_t dynamicFactor = (1 << 8) - constrain(((ABS(AngleRateTmp) << 6) / resetRate), 0, 1 << 8);
|
|
||||||
uint16_t dynamicKi = (pidProfile->I8[axis] * dynamicFactor) >> 8;
|
|
||||||
|
|
||||||
errorGyroI[axis] = errorGyroI[axis] + ((RateError * (uint16_t)targetPidLooptime) >> 11) * dynamicKi;
|
|
||||||
|
|
||||||
// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
|
|
||||||
// I coefficient (I8) moved before integration to make limiting independent from PID settings
|
|
||||||
errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
|
|
||||||
|
|
||||||
ITerm = errorGyroI[axis] >> 13;
|
|
||||||
|
|
||||||
//-----calculate D-term
|
|
||||||
if (axis == YAW) {
|
|
||||||
if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
|
|
||||||
|
|
||||||
axisPID[axis] = PTerm + ITerm;
|
|
||||||
|
|
||||||
if (motorCount >= 4) {
|
|
||||||
int16_t yaw_jump_prevention_limit = constrain(YAW_JUMP_PREVENTION_LIMIT_HIGH - (pidProfile->D8[axis] << 3), YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH);
|
|
||||||
|
|
||||||
// prevent "yaw jump" during yaw correction
|
|
||||||
axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
|
|
||||||
}
|
|
||||||
|
|
||||||
DTerm = 0; // needed for blackbox
|
|
||||||
} else {
|
|
||||||
if (pidProfile->deltaMethod == DELTA_FROM_ERROR) {
|
|
||||||
delta = RateError - lastRateError[axis];
|
|
||||||
lastRateError[axis] = RateError;
|
|
||||||
} else {
|
|
||||||
delta = -(gyroRate - lastRateError[axis]);
|
|
||||||
lastRateError[axis] = gyroRate;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Divide delta by targetLooptime to get differential (ie dr/dt)
|
|
||||||
delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetPidLooptime >> 4))) >> 5;
|
|
||||||
|
|
||||||
if (debugMode == DEBUG_DTERM_FILTER) debug[axis] = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
|
|
||||||
|
|
||||||
// Filter delta
|
|
||||||
if (pidProfile->dterm_lpf_hz) {
|
|
||||||
float deltaf = delta; // single conversion
|
|
||||||
if (dtermBiquadLpfInitialised) {
|
|
||||||
delta = biquadFilterApply(&dtermFilterLpf[axis], delta);
|
|
||||||
} else {
|
|
||||||
delta = pt1FilterApply4(&deltaFilter[axis], delta, pidProfile->dterm_lpf_hz, getdT());
|
|
||||||
}
|
|
||||||
delta = lrintf(deltaf);
|
|
||||||
}
|
|
||||||
|
|
||||||
DTerm = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
|
|
||||||
|
|
||||||
// -----calculate total PID output
|
|
||||||
axisPID[axis] = PTerm + ITerm + DTerm;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (!pidStabilisationEnabled) axisPID[axis] = 0;
|
|
||||||
|
|
||||||
#ifdef GTUNE
|
|
||||||
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
|
|
||||||
calculate_Gtune(axis);
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifdef BLACKBOX
|
|
||||||
axisPID_P[axis] = PTerm;
|
|
||||||
axisPID_I[axis] = ITerm;
|
|
||||||
axisPID_D[axis] = DTerm;
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void pidSetController(pidControllerType_e type)
|
void pidSetController(pidControllerType_e type)
|
||||||
{
|
{
|
||||||
switch (type) {
|
switch (type) {
|
||||||
|
|
@ -493,4 +133,3 @@ void pidSetController(pidControllerType_e type)
|
||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -118,6 +118,11 @@ struct rxConfig_s;
|
||||||
typedef void (*pidControllerFuncPtr)(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
|
typedef void (*pidControllerFuncPtr)(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
|
||||||
const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig); // pid controller function prototype
|
const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig); // pid controller function prototype
|
||||||
|
|
||||||
|
void pidLegacy(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
|
||||||
|
const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig);
|
||||||
|
void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
|
||||||
|
const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig);
|
||||||
|
|
||||||
extern int16_t axisPID[XYZ_AXIS_COUNT];
|
extern int16_t axisPID[XYZ_AXIS_COUNT];
|
||||||
extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
|
extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
|
||||||
bool airmodeWasActivated;
|
bool airmodeWasActivated;
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,279 @@
|
||||||
|
/*
|
||||||
|
* This file is part of Cleanflight.
|
||||||
|
*
|
||||||
|
* Cleanflight is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* Cleanflight is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stdbool.h>
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <math.h>
|
||||||
|
|
||||||
|
#include <platform.h>
|
||||||
|
|
||||||
|
#ifndef SKIP_PID_FLOAT
|
||||||
|
|
||||||
|
#include "build_config.h"
|
||||||
|
#include "debug.h"
|
||||||
|
|
||||||
|
#include "common/axis.h"
|
||||||
|
#include "common/maths.h"
|
||||||
|
#include "common/filter.h"
|
||||||
|
|
||||||
|
#include "drivers/sensor.h"
|
||||||
|
|
||||||
|
#include "drivers/accgyro.h"
|
||||||
|
#include "sensors/sensors.h"
|
||||||
|
#include "sensors/gyro.h"
|
||||||
|
#include "sensors/acceleration.h"
|
||||||
|
|
||||||
|
#include "rx/rx.h"
|
||||||
|
|
||||||
|
#include "io/rc_controls.h"
|
||||||
|
#include "io/gps.h"
|
||||||
|
|
||||||
|
#include "flight/pid.h"
|
||||||
|
#include "flight/imu.h"
|
||||||
|
#include "flight/navigation.h"
|
||||||
|
#include "flight/gtune.h"
|
||||||
|
|
||||||
|
#include "config/runtime_config.h"
|
||||||
|
|
||||||
|
extern float rcInput[3];
|
||||||
|
extern float setpointRate[3];
|
||||||
|
|
||||||
|
extern float errorGyroIf[3];
|
||||||
|
extern bool pidStabilisationEnabled;
|
||||||
|
|
||||||
|
extern pt1Filter_t deltaFilter[3];
|
||||||
|
extern pt1Filter_t yawFilter;
|
||||||
|
extern biquadFilter_t dtermFilterLpf[3];
|
||||||
|
extern biquadFilter_t dtermFilterNotch[3];
|
||||||
|
extern bool dtermNotchInitialised;
|
||||||
|
extern bool dtermBiquadLpfInitialised;
|
||||||
|
|
||||||
|
// 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 PIDweight[3];
|
||||||
|
|
||||||
|
void initFilters(const pidProfile_t *pidProfile);
|
||||||
|
float getdT(void);
|
||||||
|
|
||||||
|
// Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage.
|
||||||
|
// Based on 2DOF reference design (matlab)
|
||||||
|
void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclination, const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
|
||||||
|
{
|
||||||
|
float errorRate = 0, rP = 0, rD = 0, PVRate = 0;
|
||||||
|
float ITerm,PTerm,DTerm;
|
||||||
|
static float lastRateError[2];
|
||||||
|
static float Kp[3], Ki[3], Kd[3], b[3], c[3], rollPitchMaxVelocity, yawMaxVelocity, previousSetpoint[3];
|
||||||
|
float delta;
|
||||||
|
int axis;
|
||||||
|
float horizonLevelStrength = 1;
|
||||||
|
|
||||||
|
float tpaFactor = PIDweight[0] / 100.0f; // tpa is now float
|
||||||
|
|
||||||
|
initFilters(pidProfile);
|
||||||
|
|
||||||
|
if (FLIGHT_MODE(HORIZON_MODE)) {
|
||||||
|
// Figure out the raw stick positions
|
||||||
|
const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig->midrc));
|
||||||
|
const int32_t stickPosEle = ABS(getRcStickDeflection(FD_PITCH, rxConfig->midrc));
|
||||||
|
const int32_t mostDeflectedPos = MAX(stickPosAil, stickPosEle);
|
||||||
|
// Progressively turn off the horizon self level strength as the stick is banged over
|
||||||
|
horizonLevelStrength = (float)(500 - mostDeflectedPos) / 500; // 1 at centre stick, 0 = max stick deflection
|
||||||
|
if(pidProfile->D8[PIDLEVEL] == 0){
|
||||||
|
horizonLevelStrength = 0;
|
||||||
|
} else {
|
||||||
|
horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (100 / pidProfile->D8[PIDLEVEL])) + 1, 0, 1);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Yet Highly experimental and under test and development
|
||||||
|
// Throttle coupled to Igain like inverted TPA // 50hz calculation (should cover all rx protocols)
|
||||||
|
static float kiThrottleGain = 1.0f;
|
||||||
|
if (pidProfile->itermThrottleGain) {
|
||||||
|
const uint16_t maxLoopCount = 20000 / targetPidLooptime;
|
||||||
|
const float throttleItermGain = (float)pidProfile->itermThrottleGain * 0.001f;
|
||||||
|
static int16_t previousThrottle;
|
||||||
|
static uint16_t loopIncrement;
|
||||||
|
|
||||||
|
if (loopIncrement >= maxLoopCount) {
|
||||||
|
kiThrottleGain = 1.0f + constrainf((float)(ABS(rcCommand[THROTTLE] - previousThrottle)) * throttleItermGain, 0.0f, 5.0f); // Limit to factor 5
|
||||||
|
previousThrottle = rcCommand[THROTTLE];
|
||||||
|
loopIncrement = 0;
|
||||||
|
} else {
|
||||||
|
loopIncrement++;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// ----------PID controller----------
|
||||||
|
for (axis = 0; axis < 3; axis++) {
|
||||||
|
|
||||||
|
static uint8_t configP[3], configI[3], configD[3];
|
||||||
|
|
||||||
|
// Prevent unnecessary computing and check for changed PIDs. No need for individual checks. Only pids is fine for now
|
||||||
|
// Prepare all parameters for PID controller
|
||||||
|
if ((pidProfile->P8[axis] != configP[axis]) || (pidProfile->I8[axis] != configI[axis]) || (pidProfile->D8[axis] != configD[axis])) {
|
||||||
|
Kp[axis] = PTERM_SCALE * pidProfile->P8[axis];
|
||||||
|
Ki[axis] = ITERM_SCALE * pidProfile->I8[axis];
|
||||||
|
Kd[axis] = DTERM_SCALE * pidProfile->D8[axis];
|
||||||
|
b[axis] = pidProfile->ptermSetpointWeight / 100.0f;
|
||||||
|
c[axis] = pidProfile->dtermSetpointWeight / 100.0f;
|
||||||
|
yawMaxVelocity = pidProfile->pidMaxVelocityYaw * 1000 * getdT();
|
||||||
|
rollPitchMaxVelocity = pidProfile->pidMaxVelocityRollPitch * 1000 * getdT();
|
||||||
|
|
||||||
|
configP[axis] = pidProfile->P8[axis];
|
||||||
|
configI[axis] = pidProfile->I8[axis];
|
||||||
|
configD[axis] = pidProfile->D8[axis];
|
||||||
|
}
|
||||||
|
|
||||||
|
// Limit abrupt yaw inputs / stops
|
||||||
|
float maxVelocity = (axis == YAW) ? yawMaxVelocity : rollPitchMaxVelocity;
|
||||||
|
if (maxVelocity) {
|
||||||
|
float currentVelocity = setpointRate[axis] - previousSetpoint[axis];
|
||||||
|
if (ABS(currentVelocity) > maxVelocity) {
|
||||||
|
setpointRate[axis] = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity : previousSetpoint[axis] - maxVelocity;
|
||||||
|
}
|
||||||
|
previousSetpoint[axis] = setpointRate[axis];
|
||||||
|
}
|
||||||
|
|
||||||
|
// Yaw control is GYRO based, direct sticks control is applied to rate PID
|
||||||
|
if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
|
||||||
|
// calculate error angle and limit the angle to the max inclination
|
||||||
|
#ifdef GPS
|
||||||
|
const float errorAngle = (constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
|
||||||
|
+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
|
||||||
|
#else
|
||||||
|
const float errorAngle = (constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
|
||||||
|
+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
|
||||||
|
#endif
|
||||||
|
if (FLIGHT_MODE(ANGLE_MODE)) {
|
||||||
|
// ANGLE mode - control is angle based, so control loop is needed
|
||||||
|
setpointRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 10.0f;
|
||||||
|
} else {
|
||||||
|
// HORIZON mode - direct sticks control is applied to rate PID
|
||||||
|
// mix up angle error to desired AngleRate to add a little auto-level feel
|
||||||
|
setpointRate[axis] = setpointRate[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 10.0f);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
PVRate = gyroADCf[axis] / 16.4f; // Process variable from gyro output in deg/sec
|
||||||
|
|
||||||
|
// --------low-level gyro-based PID based on 2DOF PID controller. ----------
|
||||||
|
// ---------- 2-DOF PID controller with optional filter on derivative term. b = 1 and only c can be tuned (amount derivative on measurement or error). ----------
|
||||||
|
// Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
|
||||||
|
// ----- calculate error / angle rates ----------
|
||||||
|
errorRate = setpointRate[axis] - PVRate; // r - y
|
||||||
|
rP = b[axis] * setpointRate[axis] - PVRate; // br - y
|
||||||
|
|
||||||
|
// Slowly restore original setpoint with more stick input
|
||||||
|
float diffRate = errorRate - rP;
|
||||||
|
rP += diffRate * rcInput[axis];
|
||||||
|
|
||||||
|
// Reduce Hunting effect and jittering near setpoint. Limit multiple zero crossing within deadband and lower PID affect during low error amount
|
||||||
|
float dynReduction = tpaFactor;
|
||||||
|
if (pidProfile->toleranceBand) {
|
||||||
|
const float minReduction = (float)pidProfile->toleranceBandReduction / 100.0f;
|
||||||
|
static uint8_t zeroCrossCount[3];
|
||||||
|
static uint8_t currentErrorPolarity[3];
|
||||||
|
if (ABS(errorRate) < pidProfile->toleranceBand) {
|
||||||
|
if (zeroCrossCount[axis]) {
|
||||||
|
if (currentErrorPolarity[axis] == POSITIVE_ERROR) {
|
||||||
|
if (errorRate < 0 ) {
|
||||||
|
zeroCrossCount[axis]--;
|
||||||
|
currentErrorPolarity[axis] = NEGATIVE_ERROR;
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
if (errorRate > 0 ) {
|
||||||
|
zeroCrossCount[axis]--;
|
||||||
|
currentErrorPolarity[axis] = POSITIVE_ERROR;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
dynReduction *= constrainf(ABS(errorRate) / pidProfile->toleranceBand, minReduction, 1.0f);
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
zeroCrossCount[axis] = pidProfile->zeroCrossAllowanceCount;
|
||||||
|
currentErrorPolarity[axis] = (errorRate > 0) ? POSITIVE_ERROR : NEGATIVE_ERROR;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// -----calculate P component
|
||||||
|
PTerm = Kp[axis] * rP * dynReduction;
|
||||||
|
|
||||||
|
// -----calculate I component.
|
||||||
|
// Reduce strong Iterm accumulation during higher stick inputs
|
||||||
|
float accumulationThreshold = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
|
||||||
|
float setpointRateScaler = constrainf(1.0f - (1.5f * (ABS(setpointRate[axis]) / accumulationThreshold)), 0.0f, 1.0f);
|
||||||
|
|
||||||
|
// Handle All windup Scenarios
|
||||||
|
// limit maximum integrator value to prevent WindUp
|
||||||
|
float itermScaler = setpointRateScaler * kiThrottleGain;
|
||||||
|
|
||||||
|
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + Ki[axis] * errorRate * getdT() * itermScaler, -250.0f, 250.0f);
|
||||||
|
|
||||||
|
// I coefficient (I8) moved before integration to make limiting independent from PID settings
|
||||||
|
ITerm = errorGyroIf[axis];
|
||||||
|
|
||||||
|
//-----calculate D-term (Yaw D not yet supported)
|
||||||
|
if (axis == YAW) {
|
||||||
|
if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
|
||||||
|
|
||||||
|
axisPID[axis] = lrintf(PTerm + ITerm);
|
||||||
|
|
||||||
|
DTerm = 0.0f; // needed for blackbox
|
||||||
|
} else {
|
||||||
|
rD = c[axis] * setpointRate[axis] - PVRate; // cr - y
|
||||||
|
delta = rD - lastRateError[axis];
|
||||||
|
lastRateError[axis] = rD;
|
||||||
|
|
||||||
|
// Divide delta by targetLooptime to get differential (ie dr/dt)
|
||||||
|
delta *= (1.0f / getdT());
|
||||||
|
|
||||||
|
if (debugMode == DEBUG_DTERM_FILTER) debug[axis] = Kd[axis] * delta * dynReduction;
|
||||||
|
|
||||||
|
// Filter delta
|
||||||
|
if (dtermNotchInitialised) delta = biquadFilterApply(&dtermFilterNotch[axis], delta);
|
||||||
|
|
||||||
|
if (pidProfile->dterm_lpf_hz) {
|
||||||
|
if (dtermBiquadLpfInitialised) {
|
||||||
|
delta = biquadFilterApply(&dtermFilterLpf[axis], delta);
|
||||||
|
} else {
|
||||||
|
delta = pt1FilterApply4(&deltaFilter[axis], delta, pidProfile->dterm_lpf_hz, getdT());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
DTerm = Kd[axis] * delta * dynReduction;
|
||||||
|
|
||||||
|
// -----calculate total PID output
|
||||||
|
axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -900, 900);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Disable PID control at zero throttle
|
||||||
|
if (!pidStabilisationEnabled) axisPID[axis] = 0;
|
||||||
|
|
||||||
|
#ifdef GTUNE
|
||||||
|
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
|
||||||
|
calculate_Gtune(axis);
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef BLACKBOX
|
||||||
|
axisPID_P[axis] = PTerm;
|
||||||
|
axisPID_I[axis] = ITerm;
|
||||||
|
axisPID_D[axis] = DTerm;
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
|
@ -0,0 +1,210 @@
|
||||||
|
/*
|
||||||
|
* This file is part of Cleanflight.
|
||||||
|
*
|
||||||
|
* Cleanflight is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* Cleanflight is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stdbool.h>
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <math.h>
|
||||||
|
|
||||||
|
#include <platform.h>
|
||||||
|
|
||||||
|
#include "build_config.h"
|
||||||
|
#include "debug.h"
|
||||||
|
|
||||||
|
#include "common/axis.h"
|
||||||
|
#include "common/maths.h"
|
||||||
|
#include "common/filter.h"
|
||||||
|
|
||||||
|
#include "drivers/sensor.h"
|
||||||
|
|
||||||
|
#include "drivers/accgyro.h"
|
||||||
|
|
||||||
|
#include "sensors/sensors.h"
|
||||||
|
#include "sensors/gyro.h"
|
||||||
|
#include "sensors/acceleration.h"
|
||||||
|
|
||||||
|
#include "rx/rx.h"
|
||||||
|
|
||||||
|
#include "io/rc_controls.h"
|
||||||
|
#include "io/gps.h"
|
||||||
|
|
||||||
|
#include "flight/pid.h"
|
||||||
|
#include "flight/imu.h"
|
||||||
|
#include "flight/navigation.h"
|
||||||
|
#include "flight/gtune.h"
|
||||||
|
|
||||||
|
#include "config/runtime_config.h"
|
||||||
|
|
||||||
|
extern uint8_t motorCount;
|
||||||
|
extern uint8_t PIDweight[3];
|
||||||
|
extern bool pidStabilisationEnabled;
|
||||||
|
extern float setpointRate[3];
|
||||||
|
extern int32_t errorGyroI[3];
|
||||||
|
extern pt1Filter_t deltaFilter[3];
|
||||||
|
extern pt1Filter_t yawFilter;
|
||||||
|
extern biquadFilter_t dtermFilterLpf[3];
|
||||||
|
extern bool dtermBiquadLpfInitialised;
|
||||||
|
|
||||||
|
|
||||||
|
void initFilters(const pidProfile_t *pidProfile);
|
||||||
|
float getdT(void);
|
||||||
|
|
||||||
|
|
||||||
|
// Legacy pid controller betaflight evolved pid rewrite based on 2.9 releae. Good for fastest cycletimes for those who believe in that.
|
||||||
|
// Don't expect much development in the future
|
||||||
|
void pidLegacy(const pidProfile_t *pidProfile, uint16_t max_angle_inclination, const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
|
||||||
|
{
|
||||||
|
int axis;
|
||||||
|
int32_t PTerm, ITerm, DTerm, delta;
|
||||||
|
static int32_t lastRateError[3];
|
||||||
|
int32_t AngleRateTmp = 0, RateError = 0, gyroRate = 0;
|
||||||
|
|
||||||
|
int8_t horizonLevelStrength = 100;
|
||||||
|
|
||||||
|
initFilters(pidProfile);
|
||||||
|
|
||||||
|
if (FLIGHT_MODE(HORIZON_MODE)) {
|
||||||
|
// Figure out the raw stick positions
|
||||||
|
const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig->midrc));
|
||||||
|
const int32_t stickPosEle = ABS(getRcStickDeflection(FD_PITCH, rxConfig->midrc));
|
||||||
|
const int32_t mostDeflectedPos = MAX(stickPosAil, stickPosEle);
|
||||||
|
// Progressively turn off the horizon self level strength as the stick is banged over
|
||||||
|
horizonLevelStrength = (500 - mostDeflectedPos) / 5; // 100 at centre stick, 0 = max stick deflection
|
||||||
|
// Using Level D as a Sensitivity for Horizon. 0 more level to 255 more rate. Default value of 100 seems to work fine.
|
||||||
|
// For more rate mode increase D and slower flips and rolls will be possible
|
||||||
|
horizonLevelStrength = constrain((10 * (horizonLevelStrength - 100) * (10 * pidProfile->D8[PIDLEVEL] / 80) / 100) + 100, 0, 100);
|
||||||
|
}
|
||||||
|
|
||||||
|
// ----------PID controller----------
|
||||||
|
for (axis = 0; axis < 3; axis++) {
|
||||||
|
|
||||||
|
// -----Get the desired angle rate depending on flight mode
|
||||||
|
AngleRateTmp = (int32_t)setpointRate[axis];
|
||||||
|
|
||||||
|
if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
|
||||||
|
// calculate error angle and limit the angle to max configured inclination
|
||||||
|
#ifdef GPS
|
||||||
|
const int32_t errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
|
||||||
|
+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis];
|
||||||
|
#else
|
||||||
|
const int32_t errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
|
||||||
|
+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis];
|
||||||
|
#endif
|
||||||
|
if (FLIGHT_MODE(ANGLE_MODE)) {
|
||||||
|
// ANGLE mode - control is angle based, so control loop is needed
|
||||||
|
AngleRateTmp = (errorAngle * pidProfile->P8[PIDLEVEL]) >> 4;
|
||||||
|
} else {
|
||||||
|
// HORIZON mode - mix up angle error to desired AngleRateTmp to add a little auto-level feel,
|
||||||
|
// horizonLevelStrength is scaled to the stick input
|
||||||
|
AngleRateTmp = AngleRateTmp + ((errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 100) >> 4);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// --------low-level gyro-based PID. ----------
|
||||||
|
// Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
|
||||||
|
// -----calculate scaled error.AngleRates
|
||||||
|
// multiplication of rcCommand corresponds to changing the sticks scaling here
|
||||||
|
gyroRate = gyroADC[axis] / 4;
|
||||||
|
|
||||||
|
RateError = AngleRateTmp - gyroRate;
|
||||||
|
|
||||||
|
// -----calculate P component
|
||||||
|
PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
|
||||||
|
|
||||||
|
// Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
|
||||||
|
if((motorCount >= 4 && pidProfile->yaw_p_limit) && axis == YAW) {
|
||||||
|
PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
|
||||||
|
}
|
||||||
|
|
||||||
|
// -----calculate I component
|
||||||
|
// 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.
|
||||||
|
// Time correction (to avoid different I scaling for different builds based on average cycle time)
|
||||||
|
// is normalized to cycle time = 2048.
|
||||||
|
// Prevent Accumulation
|
||||||
|
uint16_t resetRate = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
|
||||||
|
uint16_t dynamicFactor = (1 << 8) - constrain(((ABS(AngleRateTmp) << 6) / resetRate), 0, 1 << 8);
|
||||||
|
uint16_t dynamicKi = (pidProfile->I8[axis] * dynamicFactor) >> 8;
|
||||||
|
|
||||||
|
errorGyroI[axis] = errorGyroI[axis] + ((RateError * (uint16_t)targetPidLooptime) >> 11) * dynamicKi;
|
||||||
|
|
||||||
|
// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
|
||||||
|
// I coefficient (I8) moved before integration to make limiting independent from PID settings
|
||||||
|
errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
|
||||||
|
|
||||||
|
ITerm = errorGyroI[axis] >> 13;
|
||||||
|
|
||||||
|
//-----calculate D-term
|
||||||
|
if (axis == YAW) {
|
||||||
|
if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
|
||||||
|
|
||||||
|
axisPID[axis] = PTerm + ITerm;
|
||||||
|
|
||||||
|
if (motorCount >= 4) {
|
||||||
|
int16_t yaw_jump_prevention_limit = constrain(YAW_JUMP_PREVENTION_LIMIT_HIGH - (pidProfile->D8[axis] << 3), YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH);
|
||||||
|
|
||||||
|
// prevent "yaw jump" during yaw correction
|
||||||
|
axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
|
||||||
|
}
|
||||||
|
|
||||||
|
DTerm = 0; // needed for blackbox
|
||||||
|
} else {
|
||||||
|
if (pidProfile->deltaMethod == DELTA_FROM_ERROR) {
|
||||||
|
delta = RateError - lastRateError[axis];
|
||||||
|
lastRateError[axis] = RateError;
|
||||||
|
} else {
|
||||||
|
delta = -(gyroRate - lastRateError[axis]);
|
||||||
|
lastRateError[axis] = gyroRate;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Divide delta by targetLooptime to get differential (ie dr/dt)
|
||||||
|
delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetPidLooptime >> 4))) >> 5;
|
||||||
|
|
||||||
|
if (debugMode == DEBUG_DTERM_FILTER) debug[axis] = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
|
||||||
|
|
||||||
|
// Filter delta
|
||||||
|
if (pidProfile->dterm_lpf_hz) {
|
||||||
|
float deltaf = delta; // single conversion
|
||||||
|
if (dtermBiquadLpfInitialised) {
|
||||||
|
delta = biquadFilterApply(&dtermFilterLpf[axis], delta);
|
||||||
|
} else {
|
||||||
|
delta = pt1FilterApply4(&deltaFilter[axis], delta, pidProfile->dterm_lpf_hz, getdT());
|
||||||
|
}
|
||||||
|
delta = lrintf(deltaf);
|
||||||
|
}
|
||||||
|
|
||||||
|
DTerm = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
|
||||||
|
|
||||||
|
// -----calculate total PID output
|
||||||
|
axisPID[axis] = PTerm + ITerm + DTerm;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!pidStabilisationEnabled) axisPID[axis] = 0;
|
||||||
|
|
||||||
|
#ifdef GTUNE
|
||||||
|
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
|
||||||
|
calculate_Gtune(axis);
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef BLACKBOX
|
||||||
|
axisPID_P[axis] = PTerm;
|
||||||
|
axisPID_I[axis] = ITerm;
|
||||||
|
axisPID_D[axis] = DTerm;
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
Loading…
Reference in New Issue