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Fixed possible pid process denom exceeding allowed values

This commit is contained in:
blckmn 2017-02-06 04:54:35 +11:00 committed by borisbstyle
parent 297f5ba2af
commit 9f17bae3e4
3 changed files with 16 additions and 13 deletions
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2
src/main/fc/cli.c
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@ -710,7 +710,7 @@ const clivalue_t valueTable[] = {
{ "iterm_windup", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermWindupPointPercent, .config.minmax = {30, 100 } },
{ "yaw_lowpass", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, &pidConfig()->pid_process_denom, .config.minmax = { 1, 16 } },
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, &pidConfig()->pid_process_denom, .config.minmax = { 1, MAX_PID_PROCESS_DENOM } },
{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], .config.minmax = { 0, 200 } },
{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], .config.minmax = { 0, 200 } },

14
src/main/fc/config.c
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@ -937,11 +937,11 @@ void activateConfig(void)
void validateAndFixConfig(void)
{
if((motorConfig()->motorPwmProtocol == PWM_TYPE_BRUSHED) && (motorConfig()->mincommand < 1000)) {
if ((motorConfig()->motorPwmProtocol == PWM_TYPE_BRUSHED) && (motorConfig()->mincommand < 1000)) {
motorConfigMutable()->mincommand = 1000;
}
if((motorConfig()->motorPwmProtocol == PWM_TYPE_STANDARD) && (motorConfig()->motorPwmRate > 400)) {
if ((motorConfig()->motorPwmProtocol == PWM_TYPE_STANDARD) && (motorConfig()->motorPwmRate > 400)) {
motorConfig()->motorPwmRate = 400;
}
@ -1093,7 +1093,7 @@ void validateAndFixGyroConfig(void)
float motorUpdateRestriction;
switch(motorConfig()->motorPwmProtocol) {
case (PWM_TYPE_STANDARD):
motorUpdateRestriction = 0.002f;
motorUpdateRestriction = 0.0025f;
break;
case (PWM_TYPE_ONESHOT125):
motorUpdateRestriction = 0.0005f;
@ -1113,11 +1113,13 @@ void validateAndFixGyroConfig(void)
motorUpdateRestriction = 0.00003125f;
}
if(pidLooptime < motorUpdateRestriction)
pidConfig()->pid_process_denom = motorUpdateRestriction / (samplingTime * gyroConfig()->gyro_sync_denom);
if (pidLooptime < motorUpdateRestriction) {
const uint8_t maxPidProcessDenom = constrain(motorUpdateRestriction / (samplingTime * gyroConfig()->gyro_sync_denom), 1, MAX_PID_PROCESS_DENOM);
pidConfigMutable()->pid_process_denom = MIN(pidConfigMutable()->pid_process_denom, maxPidProcessDenom);
}
// Prevent overriding the max rate of motors
if(motorConfig()->useUnsyncedPwm && (motorConfig()->motorPwmProtocol <= PWM_TYPE_BRUSHED)) {
if (motorConfig()->useUnsyncedPwm && (motorConfig()->motorPwmProtocol <= PWM_TYPE_BRUSHED)) {
uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
if(motorConfig()->motorPwmRate > maxEscRate)

13
src/main/flight/pid.h
View File

@ -19,12 +19,13 @@
#include <stdbool.h>
#define PID_CONTROLLER_BETAFLIGHT 1
#define PID_MIXER_SCALING 1000.0f
#define PID_SERVO_MIXER_SCALING 0.7f
#define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter
#define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter
#define PIDSUM_LIMIT 0.5f
#define MAX_PID_PROCESS_DENOM 16
#define PID_CONTROLLER_BETAFLIGHT 1
#define PID_MIXER_SCALING 1000.0f
#define PID_SERVO_MIXER_SCALING 0.7f
#define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter
#define YAW_P_LIMIT_MAX 500 // Maximum value for yaw P limiter
#define PIDSUM_LIMIT 0.5f
// Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float
#define PTERM_SCALE 0.032029f