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

Refactor rate limit

This commit is contained in:
borisbstyle 2016-08-05 14:18:31 +02:00
parent cb72f0a6d6
commit 81c06ace92
5 changed files with 12 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

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

@ -245,8 +245,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
// Betaflight PID controller parameters
pidProfile->ptermSetpointWeight = 75;
pidProfile->dtermSetpointWeight = 120;
pidProfile->pidMaxVelocityYaw = 220;
pidProfile->pidMaxVelocityRollPitch = 0;
pidProfile->yawRateAccelLimit = 220;
pidProfile->rateAccelLimit = 0;
pidProfile->toleranceBand = 15;
pidProfile->toleranceBandReduction = 40;
pidProfile->zeroCrossAllowanceCount = 2;

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

@ -187,8 +187,8 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
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();
yawMaxVelocity = pidProfile->yawRateAccelLimit * 1000 * getdT();
rollPitchMaxVelocity = pidProfile->rateAccelLimit * 1000 * getdT();
configP[axis] = pidProfile->P8[axis];
configI[axis] = pidProfile->I8[axis];

4
src/main/flight/pid.h
View File

@ -100,8 +100,8 @@ typedef struct pidProfile_s {
uint8_t itermThrottleGain; // Throttle coupling to iterm. Quick throttle changes will bump iterm
uint8_t ptermSetpointWeight; // Setpoint weight for Pterm (lower means more PV tracking)
uint8_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
uint16_t pidMaxVelocityYaw; // velocity yaw limiter for pid controller deg/sec/ms
uint16_t pidMaxVelocityRollPitch; // velocity roll/pitch limiter for pid controller deg/sec/ms
uint16_t yawRateAccelLimit; // yaw accel limiter for deg/sec/ms
uint16_t rateAccelLimit; // accel limiter roll/pitch deg/sec/ms
#ifdef GTUNE
uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune

4
src/main/io/serial_cli.c
View File

@ -832,8 +832,8 @@ const clivalue_t valueTable[] = {
{ "iterm_throttle_gain", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleGain, .config.minmax = {0, 200 } },
{ "pterm_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.ptermSetpointWeight, .config.minmax = {30, 100 } },
{ "dterm_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 200 } },
{ "max_yaw_acceleration", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidMaxVelocityYaw, .config.minmax = {0, 1000 } },
{ "max_acceleration", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidMaxVelocityRollPitch, .config.minmax = {0, 1000 } },
{ "yaw_rate_acceleration_limit",VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0, 1000 } },
{ "rate_acceleration_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0, 1000 } },
{ "iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
{ "yaw_iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },

8
src/main/io/serial_msp.c
View File

@ -1268,8 +1268,8 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(currentProfile->pidProfile.toleranceBand);
serialize8(currentProfile->pidProfile.toleranceBandReduction);
serialize8(currentProfile->pidProfile.itermThrottleGain);
serialize16(currentProfile->pidProfile.pidMaxVelocityRollPitch);
serialize16(currentProfile->pidProfile.pidMaxVelocityYaw);
serialize16(currentProfile->pidProfile.rateAccelLimit);
serialize16(currentProfile->pidProfile.yawRateAccelLimit);
break;
case MSP_SENSOR_CONFIG:
headSerialReply(3);
@ -1858,8 +1858,8 @@ static bool processInCommand(void)
currentProfile->pidProfile.toleranceBand = read8();
currentProfile->pidProfile.toleranceBandReduction = read8();
currentProfile->pidProfile.itermThrottleGain = read8();
currentProfile->pidProfile.pidMaxVelocityRollPitch = read16();
currentProfile->pidProfile.pidMaxVelocityYaw = read16();
currentProfile->pidProfile.rateAccelLimit = read16();
currentProfile->pidProfile.yawRateAccelLimit = read16();
break;
case MSP_SET_SENSOR_CONFIG:
masterConfig.acc_hardware = read8();