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Merge pull request #6129 from McGiverGim/iterm_relax_decreasing_I 

Add Iterm Relax INC modes
This commit is contained in:
Michael Keller 2018-07-09 22:43:33 +12:00 committed by GitHub
parent a71a2f2b92 d63eecffaa
commit 5371350150
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 17 additions and 10 deletions
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19
src/main/flight/pid.c
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@ -825,17 +825,25 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
float acCorrection = 0;
float acErrorRate;
#endif
float itermErrorRate = 0.0f;
const float ITerm = pidData[axis].I;
float itermErrorRate = currentPidSetpoint - gyroRate;
#if defined(USE_ITERM_RELAX)
if (itermRelax && (axis < FD_YAW || itermRelax == ITERM_RELAX_RPY )) {
if (itermRelax && (axis < FD_YAW || itermRelax == ITERM_RELAX_RPY || itermRelax == ITERM_RELAX_RPY_INC)) {
const float setpointLpf = pt1FilterApply(&windupLpf[axis], currentPidSetpoint);
const float setpointHpf = fabsf(currentPidSetpoint - setpointLpf);
const float itermRelaxFactor = 1 - setpointHpf / 30.0f;
if (itermRelaxType == ITERM_RELAX_SETPOINT && setpointHpf < 30) {
itermErrorRate = itermRelaxFactor * (currentPidSetpoint - gyroRate);
const bool isDecreasingI = ((ITerm > 0) && (itermErrorRate < 0)) || ((ITerm < 0) && (itermErrorRate > 0));
if ((itermRelax >= ITERM_RELAX_RP_INC) && isDecreasingI) {
// Do Nothing, use the precalculed itermErrorRate
} else if (itermRelaxType == ITERM_RELAX_SETPOINT && setpointHpf < 30) {
itermErrorRate *= itermRelaxFactor;
} else if (itermRelaxType == ITERM_RELAX_GYRO ) {
itermErrorRate = fapplyDeadband(setpointLpf - gyroRate, setpointHpf);
} else {
itermErrorRate = 0.0f;
}
if (axis == FD_ROLL) {
@ -865,7 +873,6 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
} else
#endif // USE_ITERM_RELAX
{
itermErrorRate = currentPidSetpoint - gyroRate;
#if defined(USE_ABSOLUTE_CONTROL)
acErrorRate = itermErrorRate;
#endif // USE_ABSOLUTE_CONTROL
@ -899,8 +906,6 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
}
// -----calculate I component
const float ITerm = pidData[axis].I;
const float ITermNew = constrainf(ITerm + pidCoefficient[axis].Ki * itermErrorRate * dynCi, -itermLimit, itermLimit);
const bool outputSaturated = mixerIsOutputSaturated(axis, errorRate);
if (outputSaturated == false || ABS(ITermNew) < ABS(ITerm)) {

4
src/main/flight/pid.h
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@ -79,7 +79,9 @@ typedef struct pid8_s {
typedef enum {
ITERM_RELAX_OFF,
ITERM_RELAX_RP,
ITERM_RELAX_RPY
ITERM_RELAX_RPY,
ITERM_RELAX_RP_INC,
ITERM_RELAX_RPY_INC
} itermRelax_e;
typedef enum {

2
src/main/interface/settings.c
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@ -340,7 +340,7 @@ static const char * const lookupTableVideoSystem[] = {
#if defined(USE_ITERM_RELAX)
static const char * const lookupTableItermRelax[] = {
"OFF", "RP", "RPY"
"OFF", "RP", "RPY", "RP_INC", "RPY_INC"
};
static const char * const lookupTableItermRelaxType[] = {
"GYRO", "SETPOINT"