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Merge remote-tracking branch 'borisbstyle/betaflight' into blackbox-enhancements

This commit is contained in:
Gary Keeble 2016-05-09 14:50:44 +01:00
parent a4e789fca6 90bc67e2cc
commit a4af3d301d
5 changed files with 13 additions and 12 deletions
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4
src/main/blackbox/blackbox.c
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@ -1296,8 +1296,8 @@ static bool blackboxWriteSysinfo()
(int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0f));
break;
case 40:
blackboxPrintfHeaderLine("H_sensitivity:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.H_sensitivity);
blackboxPrintfHeaderLine("iterm_reset_offset:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.itermResetOffset);
break;
case 41:
blackboxPrintfHeaderLine("deadband:%d", masterConfig.rcControlsConfig.deadband);

1
src/main/config/config.c
View File

@ -187,6 +187,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->rollPitchItermResetRate = 200;
pidProfile->rollPitchItermResetAlways = 0;
pidProfile->yawItermResetRate = 50;
pidProfile->itermResetOffset = 15;
pidProfile->dterm_lpf_hz = 80; // filtering ON by default
pidProfile->dynamic_pterm = 1;

10
src/main/flight/pid.c
View File

@ -88,7 +88,7 @@ float calculateExpoPlus(int axis, rxConfig_t *rxConfig) {
propFactor = 1.0f;
} else {
superExpoFactor = (axis == YAW) ? rxConfig->superExpoFactorYaw : rxConfig->superExpoFactor;
propFactor = 1.0f - ((superExpoFactor / 100.0f) * (ABS(rcCommand[axis]) / 500.0f));
propFactor = constrainf(1.0f - ((superExpoFactor / 100.0f) * (ABS(rcCommand[axis]) / 500.0f)), 0.0f, 1.0f);
}
return propFactor;
@ -223,11 +223,11 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + luxITermScale * RateError * getdT() * pidProfile->I8[axis], -250.0f, 250.0f);
if ((pidProfile->rollPitchItermResetAlways || IS_RC_MODE_ACTIVE(BOXSUPEREXPO)) && axis != YAW) {
if (ABS(gyroRate / 4.1f) >= pidProfile->rollPitchItermResetRate) errorGyroIf[axis] = constrainf(errorGyroIf[axis], -ITERM_RESET_THRESHOLD, ITERM_RESET_THRESHOLD);
if (ABS(gyroRate / 4.1f) >= pidProfile->rollPitchItermResetRate) errorGyroIf[axis] = constrainf(errorGyroIf[axis], -pidProfile->itermResetOffset, pidProfile->itermResetOffset);
}
if (axis == YAW) {
if (ABS(gyroRate / 4.1f) >= pidProfile->yawItermResetRate) errorGyroIf[axis] = constrainf(errorGyroIf[axis], -ITERM_RESET_THRESHOLD, ITERM_RESET_THRESHOLD);
if (ABS(gyroRate / 4.1f) >= pidProfile->yawItermResetRate) errorGyroIf[axis] = constrainf(errorGyroIf[axis], -YAW_ITERM_RESET_OFFSET, YAW_ITERM_RESET_OFFSET);
}
if (antiWindupProtection || motorLimitReached) {
@ -364,11 +364,11 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
if ((pidProfile->rollPitchItermResetAlways || IS_RC_MODE_ACTIVE(BOXSUPEREXPO)) && axis != YAW) {
if (ABS(gyroRate *10 / 41) >= pidProfile->rollPitchItermResetRate) errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) -ITERM_RESET_THRESHOLD << 13, (int32_t) + ITERM_RESET_THRESHOLD << 13);
if (ABS(gyroRate *10 / 41) >= pidProfile->rollPitchItermResetRate) errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) -pidProfile->itermResetOffset << 13, (int32_t) + pidProfile->itermResetOffset << 13);
}
if (axis == YAW) {
if (ABS(gyroRate * 10 / 41) >= pidProfile->yawItermResetRate) errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) -ITERM_RESET_THRESHOLD << 13, (int32_t) + ITERM_RESET_THRESHOLD << 13);
if (ABS(gyroRate * 10 / 41) >= pidProfile->yawItermResetRate) errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) -YAW_ITERM_RESET_OFFSET << 13, (int32_t) + YAW_ITERM_RESET_OFFSET << 13);
}
if (antiWindupProtection || motorLimitReached) {

5
src/main/flight/pid.h
View File

@ -22,7 +22,7 @@
#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 ITERM_RESET_THRESHOLD 15
#define YAW_ITERM_RESET_OFFSET 15 // May be made configurable in the future, but not really needed for yaw
#define DYNAMIC_PTERM_STICK_THRESHOLD 400
typedef enum {
@ -71,8 +71,7 @@ typedef struct pidProfile_s {
uint8_t I8[PID_ITEM_COUNT];
uint8_t D8[PID_ITEM_COUNT];
uint8_t H_sensitivity;
uint8_t itermResetOffset; // Reset offset for Iterm
uint16_t dterm_lpf_hz; // Delta Filter in hz
uint16_t yaw_lpf_hz; // Additional yaw filter when yaw axis too noisy
uint16_t rollPitchItermResetRate; // Experimental threshold for resetting iterm for pitch and roll on certain rates

1
src/main/io/serial_cli.c
View File

@ -734,6 +734,7 @@ const clivalue_t valueTable[] = {
{ "iterm_always_reset", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.rollPitchItermResetAlways, .config.lookup = { TABLE_OFF_ON } },
{ "iterm_reset_degrees", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermResetRate, .config.minmax = {50, 1000 } },
{ "yaw_iterm_reset_degrees", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermResetRate, .config.minmax = {25, 1000 } },
{ "iterm_reset_offset", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermResetOffset, .config.minmax = { 0, 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, &masterConfig.pid_process_denom, .config.minmax = { 1, 8 } },