rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Rename pidBaseflight to pidLuxFloat since it was never in official 

baseflight firmware.
This commit is contained in:
Dominic Clifton 2015-01-29 18:20:10 +01:00
parent 203c744763
commit 649081a5a6
2 changed files with 5 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
docs/PID tuning.md
View File

@ -71,7 +71,7 @@ need to be increased in order to perform like PID controller 0.
The LEVEL "D" setting is not used by this controller.
### PID controller 2, "Baseflight"
### PID controller 2, "LuxFloat"
PID Controller 2 is Lux's new floating point PID controller. Both controller 0 and 1 use integer arithmetic, which was
faster in the days of the slower 8-bit MultiWii controllers, but is less precise.
@ -82,10 +82,7 @@ don't have to be retuned when the looptime setting changes.
There were initially some problems with horizon mode, and sluggishness in acro mode, that were recently fixed by
nebbian in v1.6.0. The autotune feature does not work on this controller, so don't try to autotune it.
Even though PC2 is called "pidBaseflight" in the code, it was never in Baseflight or MultiWii. A better name might have
been pidFloatingPoint, or pidCleanflight. It is the first PID Controller designed for 32-bit processors and not derived
from MultiWii. I believe it was named pidBaseflight because it was to be the first true 32-bit processor native PID
controller, and thus the native Baseflight PC, but Timecop never accepted the code into Baseflight.
It is the first PID Controller designed for 32-bit processors and not derived from MultiWii.
The strength of the auto-leveling correction applied during Angle mode is set by the parameter "level_angle" which
is labeled "LEVEL Integral" in the GUI. This can be used to tune the auto-leveling strength in Angle mode compared to
@ -126,7 +123,7 @@ For the ALIENWII32 targets the gyroscale is removed for more yaw authority. This
PID Controller 5 is an port of the PID controller from the Harakiri firmware.
The algorithm is leveraging more floating point math. This PID controller also compensates for different looptimes on roll and pitch. It likely don’t need retuning of the PID values when looptime is changing. Actually there are two settings hardcoded which are configurable via the GUI in Harakiri:
The algorithm is leveraging more floating point math. This PID controller also compensates for different looptimes on roll and pitch. It likely don<EFBFBD>t need retuning of the PID values when looptime is changing. Actually there are two settings hardcoded which are configurable via the GUI in Harakiri:
OLD_YAW 0 // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw.
MAIN_CUT_HZ 12.0f // (default 12Hz, Range 1-50Hz)

4
src/main/flight/flight.c
View File

@ -97,7 +97,7 @@ bool shouldAutotune(void)
}
#endif
static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
{
float RateError, errorAngle, AngleRate, gyroRate;
@ -736,7 +736,7 @@ void setPIDController(int type)
pid_controller = pidRewrite;
break;
case 2:
pid_controller = pidBaseflight;
pid_controller = pidLuxFloat;
break;
case 3:
pid_controller = pidMultiWii23;