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atbetaflight
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+ added alternative PID controller from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671 

+ this is a per-profile setting, and PIDs CHANGE from default multiwii ones. check the above forum post for PID examples. set pid_controller = 0 for default multiwii, or 1 for new one.
= went back to clearing clibuffer after each command


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@341 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-06-16 08:49:36 +00:00
parent 415600b447
commit 4e94fd07e5
6 changed files with 164 additions and 61 deletions
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6
baseflight.uvproj
View File

@ -197,7 +197,7 @@
<AdsLsun>1</AdsLsun>
<AdsLven>1</AdsLven>
<AdsLsxf>1</AdsLsxf>
<RvctClst>0</RvctClst>
<RvctClst>1</RvctClst>
<GenPPlst>0</GenPPlst>
<AdsCpuType>"Cortex-M3"</AdsCpuType>
<RvctDeviceName></RvctDeviceName>
@ -990,7 +990,7 @@
<ldmm>1</ldmm>
<ldXref>1</ldXref>
<BigEnd>0</BigEnd>
<AdsALst>0</AdsALst>
<AdsALst>1</AdsALst>
<AdsACrf>1</AdsACrf>
<AdsANop>0</AdsANop>
<AdsANot>0</AdsANot>
@ -1003,7 +1003,7 @@
<AdsLsun>1</AdsLsun>
<AdsLven>1</AdsLven>
<AdsLsxf>1</AdsLsxf>
<RvctClst>0</RvctClst>
<RvctClst>1</RvctClst>
<GenPPlst>0</GenPPlst>
<AdsCpuType>"Cortex-M3"</AdsCpuType>
<RvctDeviceName></RvctDeviceName>

1
src/board.h
View File

@ -75,6 +75,7 @@ typedef void (* sensorReadFuncPtr)(int16_t *data); // sensor read and a
typedef void (* baroCalculateFuncPtr)(int32_t *pressure, int32_t *temperature); // baro calculation (filled params are pressure and temperature)
typedef void (* uartReceiveCallbackPtr)(uint16_t data); // used by uart2 driver to return frames to app
typedef uint16_t (* rcReadRawDataPtr)(uint8_t chan); // used by receiver driver to return channel data
typedef void (* pidControllerFuncPtr)(void); // pid controller function prototype
typedef struct sensor_t
{

3
src/cli.c
View File

@ -133,6 +133,7 @@ const clivalue_t valueTable[] = {
{ "gyro_cmpf_factor", VAR_UINT16, &mcfg.gyro_cmpf_factor, 100, 1000 },
{ "gyro_cmpfm_factor", VAR_UINT16, &mcfg.gyro_cmpfm_factor, 100, 1000 },
{ "gps_type", VAR_UINT8, &mcfg.gps_type, 0, 3 },
{ "pid_controller", VAR_UINT8, &cfg.pidController, 0, 1 },
{ "deadband", VAR_UINT8, &cfg.deadband, 0, 32 },
{ "yawdeadband", VAR_UINT8, &cfg.yawdeadband, 0, 100 },
{ "alt_hold_throttle_neutral", VAR_UINT8, &cfg.alt_hold_throttle_neutral, 1, 250 },
@ -1013,7 +1014,7 @@ void cliProcess(void)
else
uartPrint("ERR: Unknown command, try 'help'");
*cliBuffer = '\0';
memset(cliBuffer, 0, sizeof(cliBuffer));
bufferIndex = 0;
// 'exit' will reset this flag, so we don't need to print prompt again

4
src/config.c
View File

@ -13,7 +13,7 @@ master_t mcfg; // master config struct with data independent from profiles
config_t cfg; // profile config struct
const char rcChannelLetters[] = "AERT1234";
static uint8_t EEPROM_CONF_VERSION = 47;
static uint8_t EEPROM_CONF_VERSION = 48;
static uint32_t enabledSensors = 0;
static void resetConf(void);
@ -84,6 +84,7 @@ void readEEPROM(void)
}
cfg.tri_yaw_middle = constrain(cfg.tri_yaw_middle, cfg.tri_yaw_min, cfg.tri_yaw_max); //REAR
setPIDController(cfg.pidController);
}
void writeEEPROM(uint8_t b, uint8_t updateProfile)
@ -202,6 +203,7 @@ static void resetConf(void)
mcfg.serial_baudrate = 115200;
mcfg.looptime = 3500;
cfg.pidController = 0;
cfg.P8[ROLL] = 40;
cfg.I8[ROLL] = 30;
cfg.D8[ROLL] = 23;

209
src/mw.c
View File

@ -1,7 +1,7 @@
#include "board.h"
#include "mw.h"
// October 2012 V2.1-dev
// June 2013 V2.2-dev
flags_t f;
int16_t debug[4];
@ -24,6 +24,10 @@ int16_t lookupThrottleRC[11]; // lookup table for expo & mid THROTTLE
uint16_t rssi; // range: [0;1023]
rcReadRawDataPtr rcReadRawFunc = NULL; // receive data from default (pwm/ppm) or additional (spek/sbus/?? receiver drivers)
static void pidMultiWii(void);
static void pidRewrite(void);
pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are we using, defaultMultiWii
uint8_t dynP8[3], dynI8[3], dynD8[3];
uint8_t rcOptions[CHECKBOXITEMS];
@ -132,6 +136,7 @@ void annexCode(void)
prop1 = 100 - (uint16_t) cfg.yawRate * tmp / 500;
}
dynP8[axis] = (uint16_t) cfg.P8[axis] * prop1 / 100;
dynI8[axis] = (uint16_t) cfg.I8[axis] * prop1 / 100;
dynD8[axis] = (uint16_t) cfg.D8[axis] * prop1 / 100;
if (rcData[axis] < mcfg.midrc)
rcCommand[axis] = -rcCommand[axis];
@ -273,25 +278,160 @@ static void mwVario(void)
}
static int32_t errorGyroI[3] = { 0, 0, 0 };
static int32_t errorAngleI[2] = { 0, 0 };
static void pidMultiWii(void)
{
int axis, prop;
int16_t error, errorAngle;
int16_t PTerm, ITerm, PTermACC, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
static int16_t lastGyro[3] = { 0, 0, 0 };
static int16_t delta1[3], delta2[3];
int16_t deltaSum;
int16_t delta;
// **** PITCH & ROLL & YAW PID ****
prop = max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])); // range [0;500]
for (axis = 0; axis < 3; axis++) {
if ((f.ANGLE_MODE || f.HORIZON_MODE) && axis < 2) { // MODE relying on ACC
// 50 degrees max inclination
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis];
PTermACC = (int32_t)errorAngle * cfg.P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
PTermACC = constrain(PTermACC, -cfg.D8[PIDLEVEL] * 5, +cfg.D8[PIDLEVEL] * 5);
errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp
ITermACC = ((int32_t)errorAngleI[axis] * cfg.I8[PIDLEVEL]) >> 12;
}
if (!f.ANGLE_MODE || f.HORIZON_MODE || axis == 2) { // MODE relying on GYRO or YAW axis
error = (int32_t)rcCommand[axis] * 10 * 8 / cfg.P8[axis];
error -= gyroData[axis];
PTermGYRO = rcCommand[axis];
errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
if (abs(gyroData[axis]) > 640)
errorGyroI[axis] = 0;
ITermGYRO = (errorGyroI[axis] / 125 * cfg.I8[axis]) >> 6;
}
if (f.HORIZON_MODE && axis < 2) {
PTerm = ((int32_t)PTermACC * (500 - prop) + (int32_t)PTermGYRO * prop) / 500;
ITerm = ((int32_t)ITermACC * (500 - prop) + (int32_t)ITermGYRO * prop) / 500;
} else {
if (f.ANGLE_MODE && axis < 2) {
PTerm = PTermACC;
ITerm = ITermACC;
} else {
PTerm = PTermGYRO;
ITerm = ITermGYRO;
}
}
PTerm -= (int32_t)gyroData[axis] * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
delta = gyroData[axis] - lastGyro[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
lastGyro[axis] = gyroData[axis];
deltaSum = delta1[axis] + delta2[axis] + delta;
delta2[axis] = delta1[axis];
delta1[axis] = delta;
DTerm = ((int32_t)deltaSum * dynD8[axis]) >> 5; // 32 bits is needed for calculation
axisPID[axis] = PTerm + ITerm - DTerm;
}
}
#define GYRO_I_MAX 256
static void pidRewrite(void)
{
int16_t errorAngle;
int axis;
int16_t delta, deltaSum;
static int16_t delta1[3], delta2[3];
int16_t PTerm, ITerm, DTerm;
static int16_t lastError[3] = { 0, 0, 0 };
int16_t AngleRateTmp, RateError;
// ----------PID controller----------
for (axis = 0; axis < 3; axis++) {
// -----Get the desired angle rate depending on flight mode
if ((f.ANGLE_MODE || f.HORIZON_MODE) && axis < 2 ) { // MODE relying on ACC
// calculate error and limit the angle to 50 degrees max inclination
errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis]; // 16 bits is ok here
}
if (axis == 2) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
AngleRateTmp = (((int32_t) (cfg.yawRate + 27) * rcCommand[2]) >> 5);
} else {
if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
AngleRateTmp = ((int32_t) (cfg.rollPitchRate + 27) * rcCommand[axis]) >> 4;
if (f.HORIZON_MODE) {
// mix up angle error to desired AngleRateTmp to add a little auto-level feel
AngleRateTmp += ((int32_t) errorAngle * cfg.I8[PIDLEVEL]) >> 8;
}
} else { // it's the ANGLE mode - control is angle based, so control loop is needed
AngleRateTmp = ((int32_t) errorAngle * cfg.P8[PIDLEVEL]) >> 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
RateError = AngleRateTmp - gyroData[axis];
// -----calculate P component
PTerm = ((int32_t)RateError * cfg.P8[axis]) >> 7;
// -----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.
errorGyroI[axis] = errorGyroI[axis] + (((int32_t)RateError * cycleTime) >> 11) * cfg.I8[axis];
// 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
delta = RateError - lastError[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
lastError[axis] = RateError;
// 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 = ((int32_t) delta * ((uint16_t)0xFFFF / (cycleTime >> 4))) >> 6;
// add moving average here to reduce noise
deltaSum = delta1[axis] + delta2[axis] + delta;
delta2[axis] = delta1[axis];
delta1[axis] = delta;
DTerm = (deltaSum * cfg.D8[axis]) >> 8;
// -----calculate total PID output
axisPID[axis] = PTerm + ITerm + DTerm;
}
}
void setPIDController(int type)
{
switch (type) {
case 0:
default:
pid_controller = pidMultiWii;
break;
case 1:
pid_controller = pidRewrite;
break;
}
}
void loop(void)
{
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
static uint8_t rcSticks; // this hold sticks position for command combos
uint8_t stTmp = 0;
uint8_t axis, i;
int16_t error, errorAngle;
int16_t PTerm, ITerm, PTermACC, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
static int16_t errorGyroI[3] = { 0, 0, 0 };
static int16_t errorAngleI[2] = { 0, 0 };
int16_t delta;
static int16_t lastGyro[3] = { 0, 0, 0 };
static int16_t delta1[3], delta2[3];
int16_t deltaSum;
int i;
static uint32_t rcTime = 0;
static int16_t initialThrottleHold;
static uint32_t loopTime;
uint16_t auxState = 0;
int16_t prop;
static uint8_t GPSNavReset = 1;
// this will return false if spektrum is disabled. shrug.
@ -703,51 +843,8 @@ void loop(void)
}
}
// **** PITCH & ROLL & YAW PID ****
prop = max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])); // range [0;500]
for (axis = 0; axis < 3; axis++) {
if ((f.ANGLE_MODE || f.HORIZON_MODE) && axis < 2) { // MODE relying on ACC
// 50 degrees max inclination
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis];
PTermACC = (int32_t)errorAngle * cfg.P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
PTermACC = constrain(PTermACC, -cfg.D8[PIDLEVEL] * 5, +cfg.D8[PIDLEVEL] * 5);
errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp
ITermACC = ((int32_t)errorAngleI[axis] * cfg.I8[PIDLEVEL]) >> 12;
}
if (!f.ANGLE_MODE || f.HORIZON_MODE || axis == 2) { // MODE relying on GYRO or YAW axis
error = (int32_t)rcCommand[axis] * 10 * 8 / cfg.P8[axis];
error -= gyroData[axis];
PTermGYRO = rcCommand[axis];
errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
if (abs(gyroData[axis]) > 640)
errorGyroI[axis] = 0;
ITermGYRO = (errorGyroI[axis] / 125 * cfg.I8[axis]) >> 6;
}
if (f.HORIZON_MODE && axis < 2) {
PTerm = ((int32_t)PTermACC * (500 - prop) + (int32_t)PTermGYRO * prop) / 500;
ITerm = ((int32_t)ITermACC * (500 - prop) + (int32_t)ITermGYRO * prop) / 500;
} else {
if (f.ANGLE_MODE && axis < 2) {
PTerm = PTermACC;
ITerm = ITermACC;
} else {
PTerm = PTermGYRO;
ITerm = ITermGYRO;
}
}
PTerm -= (int32_t)gyroData[axis] * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
delta = gyroData[axis] - lastGyro[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
lastGyro[axis] = gyroData[axis];
deltaSum = delta1[axis] + delta2[axis] + delta;
delta2[axis] = delta1[axis];
delta1[axis] = delta;
DTerm = ((int32_t)deltaSum * dynD8[axis]) >> 5; // 32 bits is needed for calculation
axisPID[axis] = PTerm + ITerm - DTerm;
}
// PID - note this is function pointer set by setPIDController()
pid_controller();
mixTable();
writeServos();

2
src/mw.h
View File

@ -145,6 +145,7 @@ enum {
};
typedef struct config_t {
uint8_t pidController; // 0 = multiwii original, 1 = rewrite from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671
uint8_t P8[PIDITEMS];
uint8_t I8[PIDITEMS];
uint8_t D8[PIDITEMS];
@ -371,6 +372,7 @@ extern sensor_t gyro;
extern baro_t baro;
// main
void setPIDController(int type);
void loop(void);
// IMU