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Configurable Yaw Pterm Filter 

Fix compile error
This commit is contained in:
borisbstyle 2015-11-13 14:51:41 +01:00
parent b4130ee726
commit 6d5dcb5495
5 changed files with 9 additions and 6 deletions
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2
src/main/common/filter.h
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@ -5,7 +5,7 @@
* Author: borisb
*/
#define YAW_PTERM_FILTER 30
typedef struct filterStatePt1_s {
float state;

3
src/main/config/config.c
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@ -132,7 +132,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 112;
static const uint8_t EEPROM_CONF_VERSION = 113;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -175,6 +175,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->D8[PIDVEL] = 1;
pidProfile->dterm_cut_hz = 40;
pidProfile->yaw_pterm_cut_hz = 50;
pidProfile->P_f[ROLL] = 1.5f; // new PID with preliminary defaults test carefully
pidProfile->I_f[ROLL] = 0.4f;

8
src/main/flight/pid.c
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@ -173,8 +173,8 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// -----calculate P component
PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100;
if (axis == YAW) {
PTerm = filterApplyPt1(PTerm, &yawPTermState, YAW_PTERM_FILTER, dT);
if (axis == YAW && pidProfile->yaw_pterm_cut_hz) {
PTerm = filterApplyPt1(PTerm, &yawPTermState, pidProfile->yaw_pterm_cut_hz, dT);
}
// -----calculate I component.
@ -289,8 +289,8 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
// -----calculate P component
PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
if (axis == YAW) {
PTerm = filterApplyPt1(PTerm, &yawPTermState, YAW_PTERM_FILTER, dT);
if (axis == YAW && pidProfile->yaw_pterm_cut_hz) {
PTerm = filterApplyPt1(PTerm, &yawPTermState, pidProfile->yaw_pterm_cut_hz, dT);
}
// -----calculate I component

1
src/main/flight/pid.h
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@ -56,6 +56,7 @@ typedef struct pidProfile_s {
uint8_t H_sensitivity;
uint8_t dterm_cut_hz; // (default 17Hz, Range 1-50Hz) Used for PT1 element in PID1, PID2 and PID5
uint8_t yaw_pterm_cut_hz; // Yaw P low pass filter for pterm. very usefull on noisy setups
#ifdef GTUNE
uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune

1
src/main/io/serial_cli.c
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@ -520,6 +520,7 @@ const clivalue_t valueTable[] = {
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], 0, 200 },
{ "dterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_cut_hz, 0, 200 },
{ "yaw_pterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_pterm_cut_hz, 0, 200 },
#ifdef GTUNE
{ "gtune_loP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], 10, 200 },