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atbetaflight
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Changes, thanks mikeller and jirif

This commit is contained in:
ctzsnooze 2018-07-09 21:03:16 +10:00 committed by mikeller
parent 4c917efa50
commit 94c7109a4c
3 changed files with 8 additions and 12 deletions
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12
src/main/flight/pid.c
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@ -71,7 +71,7 @@ static FAST_RAM_ZERO_INIT float pidFrequency;
static FAST_RAM_ZERO_INIT uint8_t antiGravityMode; static FAST_RAM_ZERO_INIT uint8_t antiGravityMode;
static FAST_RAM_ZERO_INIT float antiGravityThrottleHpf; static FAST_RAM_ZERO_INIT float antiGravityThrottleHpf;
static FAST_RAM_ZERO_INIT uint16_t itermAcceleratorGain; static FAST_RAM_ZERO_INIT uint16_t itermAcceleratorGain;
static FAST_RAM float antiGravityOSDCutoff = 1.0f; static FAST_RAM float antiGravityOsdCutoff = 1.0f;
static FAST_RAM_ZERO_INIT bool antiGravityEnabled; static FAST_RAM_ZERO_INIT bool antiGravityEnabled;
PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 2); PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 2);
@ -193,7 +193,7 @@ void pidSetItermAccelerator(float newItermAccelerator)
bool pidOsdAntiGravityActive(void) bool pidOsdAntiGravityActive(void)
{ {
return (itermAccelerator > antiGravityOSDCutoff); return (itermAccelerator > antiGravityOsdCutoff);
} }
void pidStabilisationState(pidStabilisationState_e pidControllerState) void pidStabilisationState(pidStabilisationState_e pidControllerState)
@ -467,9 +467,9 @@ void pidInitConfig(const pidProfile_t *pidProfile)
// For the new AG it's a continuous floating value so we want to trigger the OSD // For the new AG it's a continuous floating value so we want to trigger the OSD
// display when it exceeds 25% of its possible range. This gives a useful indication // display when it exceeds 25% of its possible range. This gives a useful indication
// of AG activity without excessive display. // of AG activity without excessive display.
antiGravityOSDCutoff = 1.0f; antiGravityOsdCutoff = 1.0f;
if (antiGravityMode == ANTI_GRAVITY_SMOOTH) { if (antiGravityMode == ANTI_GRAVITY_SMOOTH) {
antiGravityOSDCutoff += ((itermAcceleratorGain - 1000) / 1000.0f) * 0.25f; antiGravityOsdCutoff += ((itermAcceleratorGain - 1000) / 1000.0f) * 0.25f;
} }
#if defined(USE_SMART_FEEDFORWARD) #if defined(USE_SMART_FEEDFORWARD)
@ -812,14 +812,12 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
#endif #endif
// Dynamic i component, // Dynamic i component,
// gradually scale back integration when above windup point
if ((antiGravityMode == ANTI_GRAVITY_SMOOTH) && antiGravityEnabled) { if ((antiGravityMode == ANTI_GRAVITY_SMOOTH) && antiGravityEnabled) {
itermAccelerator = 1 + fabsf(antiGravityThrottleHpf) * 0.01f * (itermAcceleratorGain - 1000); itermAccelerator = 1 + fabsf(antiGravityThrottleHpf) * 0.01f * (itermAcceleratorGain - 1000);
DEBUG_SET(DEBUG_ANTI_GRAVITY, 1, lrintf(antiGravityThrottleHpf * 1000)); DEBUG_SET(DEBUG_ANTI_GRAVITY, 1, lrintf(antiGravityThrottleHpf * 1000));
} }
DEBUG_SET(DEBUG_ANTI_GRAVITY, 0, lrintf(itermAccelerator * 1000)); DEBUG_SET(DEBUG_ANTI_GRAVITY, 0, lrintf(itermAccelerator * 1000));
// gradually scale back integration when above windup point
const float dynCi = MIN((1.0f - motorMixRange) * ITermWindupPointInv, 1.0f) * dT * itermAccelerator; const float dynCi = MIN((1.0f - motorMixRange) * ITermWindupPointInv, 1.0f) * dT * itermAccelerator;
// Dynamic d component, enable 2-DOF PID controller only for rate mode // Dynamic d component, enable 2-DOF PID controller only for rate mode

5
src/main/flight/pid.h
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@ -77,9 +77,8 @@ typedef struct pid8_s {
} pid8_t; } pid8_t;
typedef enum { typedef enum {
ANTI_GRAVITY_OFF = 0, ANTI_GRAVITY_SMOOTH,
ANTI_GRAVITY_STEP, ANTI_GRAVITY_STEP
ANTI_GRAVITY_SMOOTH
} antiGravityMode_e; } antiGravityMode_e;
typedef enum { typedef enum {

3
src/main/interface/settings.c
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@ -274,9 +274,8 @@ static const char * const lookupTableDtermLowpassType[] = {
}; };
static const char * const lookupTableAntiGravityMode[] = { static const char * const lookupTableAntiGravityMode[] = {
"OFF",
"STEP",
"SMOOTH", "SMOOTH",
"STEP",
}; };
static const char * const lookupTableFailsafe[] = { static const char * const lookupTableFailsafe[] = {