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yawPTermState filter

This commit is contained in:
borisbstyle 2015-09-19 14:41:21 +02:00
parent e17554c29f
commit 85855425a8
2 changed files with 22 additions and 2 deletions
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2
src/main/common/filter.h
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@ -5,7 +5,7 @@
* Author: borisb
*/
#define YAW_PTERM_CUT_RATIO 2
#define YAW_PTERM_FILTER 30
typedef struct filterStatePt1_s {
float state;

22
src/main/flight/pid.c
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@ -96,6 +96,7 @@ void pidResetErrorGyro(void)
const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
static filterStatePt1_t DTermState[3];
static filterStatePt1_t yawPTermState;
#ifdef AUTOTUNE
bool shouldAutotune(void)
@ -185,6 +186,10 @@ 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);
}
// -----calculate I component.
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f);
@ -284,9 +289,12 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
PTerm -= ((int32_t)gyroADC[axis] / 4) * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
if (axis == YAW) {
PTerm = filterApplyPt1(PTerm, &yawPTermState, YAW_PTERM_FILTER, dT);
}
delta = (gyroADC[axis] - lastGyro[axis]) / 4;
lastGyro[axis] = gyroADC[axis];
delta1[axis] = delta;
// Dterm low pass
if (pidProfile->dterm_cut_hz) {
@ -366,6 +374,10 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
PTerm -= ((int32_t)(gyroADC[axis] / 4) * dynP8[axis]) >> 6; // 32 bits is needed for calculation
if (axis == YAW) {
PTerm = filterApplyPt1(PTerm, &yawPTermState, YAW_PTERM_FILTER, dT);
}
delta = (gyroADC[axis] - lastGyro[axis]) / 4; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
lastGyro[axis] = gyroADC[axis];
@ -480,6 +492,10 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
PTerm -= ((int32_t)gyroADC[axis] / 4) * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
if (axis == YAW) {
PTerm = filterApplyPt1(PTerm, &yawPTermState, YAW_PTERM_FILTER, dT);
}
delta = (gyroADC[axis] - lastGyro[axis]) / 4;
lastGyro[axis] = gyroADC[axis];
@ -730,6 +746,10 @@ 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);
}
// -----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.