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Replace yaw_jump_prevention_limit by D gain for yaw // new defaults based on flight tests

This commit is contained in:
borisbstyle 2016-05-24 21:47:57 +02:00
parent df6d564a9d
commit aa61bd4fb4
6 changed files with 34 additions and 26 deletions
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17
src/main/config/config.c
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@ -140,7 +140,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 136;
static const uint8_t EEPROM_CONF_VERSION = 137;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -154,14 +154,14 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->pidController = 1;
pidProfile->P8[ROLL] = 45;
pidProfile->I8[ROLL] = 55;
pidProfile->I8[ROLL] = 40;
pidProfile->D8[ROLL] = 15;
pidProfile->P8[PITCH] = 45;
pidProfile->I8[PITCH] = 55;
pidProfile->I8[PITCH] = 40;
pidProfile->D8[PITCH] = 15;
pidProfile->P8[YAW] = 90;
pidProfile->I8[YAW] = 50;
pidProfile->D8[YAW] = 0;
pidProfile->I8[YAW] = 45;
pidProfile->D8[YAW] = 10;
pidProfile->P8[PIDALT] = 50;
pidProfile->I8[PIDALT] = 0;
pidProfile->D8[PIDALT] = 0;
@ -184,8 +184,8 @@ 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 = 180;
pidProfile->yawItermIgnoreRate = 35;
pidProfile->dterm_lpf_hz = 110; // filtering ON by default
pidProfile->dynamic_pid = 1;
@ -308,7 +308,7 @@ void resetSerialConfig(serialConfig_t *serialConfig)
static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
controlRateConfig->rcRate8 = 100;
controlRateConfig->rcExpo8 = 60;
controlRateConfig->rcExpo8 = 70;
controlRateConfig->thrMid8 = 50;
controlRateConfig->thrExpo8 = 0;
controlRateConfig->dynThrPID = 20;
@ -330,7 +330,6 @@ void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
void resetMixerConfig(mixerConfig_t *mixerConfig) {
mixerConfig->yaw_motor_direction = 1;
mixerConfig->yaw_jump_prevention_limit = 200;
#ifdef USE_SERVOS
mixerConfig->tri_unarmed_servo = 1;
mixerConfig->servo_lowpass_freq = 400;

5
src/main/flight/mixer.c
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@ -761,11 +761,6 @@ void mixTable(void)
bool isFailsafeActive = failsafeIsActive(); // TODO - Find out if failsafe checks are really needed here in mixer code
if (motorCount >= 4 && mixerConfig->yaw_jump_prevention_limit < YAW_JUMP_PREVENTION_LIMIT_HIGH) {
// prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -mixerConfig->yaw_jump_prevention_limit - ABS(rcCommand[YAW]), mixerConfig->yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
}
// Initial mixer concept by bdoiron74 reused and optimized for Air Mode
int16_t rollPitchYawMix[MAX_SUPPORTED_MOTORS];
int16_t rollPitchYawMixMax = 0; // assumption: symetrical about zero.

4
src/main/flight/mixer.h
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@ -19,9 +19,6 @@
#define MAX_SUPPORTED_MOTORS 12
#define MAX_SUPPORTED_SERVOS 8
#define YAW_JUMP_PREVENTION_LIMIT_LOW 80
#define YAW_JUMP_PREVENTION_LIMIT_HIGH 500
// Note: this is called MultiType/MULTITYPE_* in baseflight.
typedef enum mixerMode
@ -71,7 +68,6 @@ typedef struct mixer_s {
typedef struct mixerConfig_s {
int8_t yaw_motor_direction;
uint16_t yaw_jump_prevention_limit; // make limit configurable (original fixed value was 100)
#ifdef USE_SERVOS
uint8_t tri_unarmed_servo; // send tail servo correction pulses even when unarmed
uint16_t servo_lowpass_freq; // lowpass servo filter frequency selection; 1/1000ths of loop freq

31
src/main/flight/pid.c
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@ -231,7 +231,15 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_
//-----calculate D-term
if (axis == YAW) {
if (pidProfile->yaw_lpf_hz) PTerm = filterApplyPt1(PTerm, &yawFilterState, pidProfile->yaw_lpf_hz, getdT());
DTerm = 0;
axisPID[axis] = lrintf(PTerm + ITerm);
if (motorCount >= 4) {
int16_t yaw_jump_prevention_limit = constrain(YAW_JUMP_PREVENTION_LIMIT_HIGH - (pidProfile->D8[axis] << 3), YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH);
// prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
}
} else {
delta = -(gyroRate - lastRate[axis]);
lastRate[axis] = gyroRate;
@ -243,10 +251,10 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_
if (pidProfile->dterm_lpf_hz) delta = filterApplyPt1(delta, &deltaFilterState[axis], pidProfile->dterm_lpf_hz, getdT());
DTerm = constrainf(luxDTermScale * delta * (float)pidProfile->D8[axis] * tpaFactor, -300.0f, 300.0f);
}
// -----calculate total PID output
axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -1000, 1000);
// -----calculate total PID output
axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -1000, 1000);
}
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
@ -354,7 +362,15 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
//-----calculate D-term
if (axis == YAW) {
if (pidProfile->yaw_lpf_hz) PTerm = filterApplyPt1(PTerm, &yawFilterState, pidProfile->yaw_lpf_hz, getdT());
DTerm = 0;
axisPID[axis] = PTerm + ITerm;
if (motorCount >= 4) {
int16_t yaw_jump_prevention_limit = constrain(YAW_JUMP_PREVENTION_LIMIT_HIGH - (pidProfile->D8[axis] << 3), YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH);
// prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
}
} else {
delta = -(gyroRate - lastRate[axis]);
lastRate[axis] = gyroRate;
@ -366,10 +382,11 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
if (pidProfile->dterm_lpf_hz) delta = filterApplyPt1((float)delta, &deltaFilterState[axis], pidProfile->dterm_lpf_hz, getdT());
DTerm = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
// -----calculate total PID output
axisPID[axis] = PTerm + ITerm + DTerm;
}
// -----calculate total PID output
axisPID[axis] = PTerm + ITerm + DTerm;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {

2
src/main/flight/pid.h
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@ -21,6 +21,8 @@
#define GYRO_I_MAX 256 // Gyro I limiter
#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 YAW_JUMP_PREVENTION_LIMIT_LOW 80
#define YAW_JUMP_PREVENTION_LIMIT_HIGH 400
#define DYNAMIC_PTERM_STICK_THRESHOLD 400

1
src/main/io/serial_cli.c
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@ -677,7 +677,6 @@ const clivalue_t valueTable[] = {
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.yaw_control_direction, .config.minmax = { -1, 1 } },
{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, .config.minmax = { -1, 1 } },
{ "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, .config.minmax = { YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH } },
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
#ifdef USE_SERVOS
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },