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atbetaflight
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This commit is contained in:
borisbstyle 2016-08-09 23:34:12 +02:00
parent e9924eb13a
commit 98eb820cdb
4 changed files with 9 additions and 10 deletions
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13
src/main/config/config.c
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@ -206,7 +206,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->D8[ROLL] = 20;
pidProfile->P8[PITCH] = 60;
pidProfile->I8[PITCH] = 60;
pidProfile->D8[PITCH] = 25;
pidProfile->D8[PITCH] = 22;
pidProfile->P8[YAW] = 80;
pidProfile->I8[YAW] = 45;
pidProfile->D8[YAW] = 20;
@ -232,15 +232,15 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
pidProfile->yaw_lpf_hz = 80;
pidProfile->rollPitchItermIgnoreRate = 200;
pidProfile->yawItermIgnoreRate = 50;
pidProfile->rollPitchItermIgnoreRate = 130;
pidProfile->yawItermIgnoreRate = 32;
pidProfile->dterm_filter_type = FILTER_BIQUAD;
pidProfile->dterm_lpf_hz = 100; // filtering ON by default
pidProfile->dterm_notch_hz = 0;
pidProfile->dterm_notch_cutoff = 150;
pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
pidProfile->vbatPidCompensation = 0;
pidProfile->zeroThrottleStabilisation = PID_STABILISATION_OFF;
pidProfile->pidAtMinThrottle = PID_STABILISATION_OFF;
// Betaflight PID controller parameters
pidProfile->ptermSetpointWeight = 75;
@ -310,10 +310,9 @@ void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
{
#ifdef BRUSHED_MOTORS
escAndServoConfig->minthrottle = 1000;
escAndServoConfig->maxthrottle = 2000;
#else
escAndServoConfig->minthrottle = 1150;
escAndServoConfig->maxthrottle = 1850;
escAndServoConfig->maxthrottle = 2000;
escAndServoConfig->minthrottle = 1070;
#endif
escAndServoConfig->mincommand = 1000;
escAndServoConfig->servoCenterPulse = 1500;

2
src/main/flight/pid.c
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@ -274,7 +274,7 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
// -----calculate I component.
// Reduce strong Iterm accumulation during higher stick inputs
float accumulationThreshold = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
float setpointRateScaler = constrainf(1.0f - (1.5f * (ABS(setpointRate[axis]) / accumulationThreshold)), 0.0f, 1.0f);
float setpointRateScaler = constrainf(1.0f - (ABS(setpointRate[axis]) / accumulationThreshold), 0.0f, 1.0f);
// Handle All windup Scenarios
// limit maximum integrator value to prevent WindUp

2
src/main/flight/pid.h
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@ -91,7 +91,7 @@ typedef struct pidProfile_s {
uint16_t yaw_p_limit;
uint8_t dterm_average_count; // Configurable delta count for dterm
uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage
uint8_t zeroThrottleStabilisation; // Disable/Enable zero throttle stabilisation. Normally even without airmode P and D would be active.
uint8_t pidAtMinThrottle; // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
// Betaflight PID controller parameters
uint8_t toleranceBand; // Error tolerance area where toleranceBandReduction is applied under certain circumstances

2
src/main/io/serial_cli.c
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@ -842,7 +842,7 @@ const clivalue_t valueTable[] = {
{ "dterm_notch_hz", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_hz, .config.minmax = { 0, 500 } },
{ "dterm_notch_cutoff", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_cutoff, .config.minmax = { 1, 500 } },
{ "vbat_pid_compensation", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
{ "zero_throttle_stabilisation",VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.zeroThrottleStabilisation, .config.lookup = { TABLE_OFF_ON } },
{ "pid_at_min_throttle", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidAtMinThrottle, .config.lookup = { TABLE_OFF_ON } },
{ "pid_tolerance_band", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.toleranceBand, .config.minmax = {0, 200 } },
{ "tolerance_band_reduction", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.toleranceBandReduction, .config.minmax = {0, 100 } },
{ "zero_cross_allowance", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.zeroCrossAllowanceCount, .config.minmax = {0, 50 } },