rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Revert "Remove YawPtermState filter" 

This reverts commit 1a667442f2.
This commit is contained in:
borisbstyle 2015-11-13 11:50:32 +01:00
parent e3c39dd468
commit b4130ee726
2 changed files with 10 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/main/common/filter.h
View File

@ -5,7 +5,7 @@
* Author: borisb
*/
#define YAW_PTERM_FILTER 30
typedef struct filterStatePt1_s {
float state;

9
src/main/flight/pid.c
View File

@ -96,6 +96,7 @@ void pidResetErrorGyro(void)
const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
static filterStatePt1_t DTermState[3];
static filterStatePt1_t yawPTermState;
static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
@ -172,6 +173,10 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// -----calculate P component
PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100;
if (axis == YAW) {
PTerm = filterApplyPt1(PTerm, &yawPTermState, YAW_PTERM_FILTER, dT);
}
// -----calculate I component.
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f);
@ -284,6 +289,10 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
// -----calculate P component
PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
if (axis == YAW) {
PTerm = filterApplyPt1(PTerm, &yawPTermState, YAW_PTERM_FILTER, dT);
}
// -----calculate I component
// there should be no division before accumulating the error to integrator, because the precision would be reduced.
// Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.