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Merge pull request #6090 from mikeller/improve_iterm_relax 

Minor code improvements for iterm relax.
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Michael Keller 2018-07-15 12:13:00 +12:00 committed by GitHub
parent 2c084cbf2b 80acf5a53d
commit b504a4869d
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1 changed files with 3 additions and 1 deletions
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4
src/main/flight/pid.c
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@ -56,6 +56,8 @@
#include "sensors/acceleration.h" #include "sensors/acceleration.h"
#define ITERM_RELAX_SETPOINT_THRESHOLD 30.0f
FAST_RAM_ZERO_INIT uint32_t targetPidLooptime; FAST_RAM_ZERO_INIT uint32_t targetPidLooptime;
FAST_RAM_ZERO_INIT pidAxisData_t pidData[XYZ_AXIS_COUNT]; FAST_RAM_ZERO_INIT pidAxisData_t pidData[XYZ_AXIS_COUNT];
@ -833,7 +835,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
if (itermRelax && (axis < FD_YAW || itermRelax == ITERM_RELAX_RPY || itermRelax == ITERM_RELAX_RPY_INC)) { if (itermRelax && (axis < FD_YAW || itermRelax == ITERM_RELAX_RPY || itermRelax == ITERM_RELAX_RPY_INC)) {
const float setpointLpf = pt1FilterApply(&windupLpf[axis], currentPidSetpoint); const float setpointLpf = pt1FilterApply(&windupLpf[axis], currentPidSetpoint);
const float setpointHpf = fabsf(currentPidSetpoint - setpointLpf); const float setpointHpf = fabsf(currentPidSetpoint - setpointLpf);
const float itermRelaxFactor = 1 - setpointHpf / 30.0f; const float itermRelaxFactor = 1 - setpointHpf / ITERM_RELAX_SETPOINT_THRESHOLD;
const bool isDecreasingI = ((ITerm > 0) && (itermErrorRate < 0)) || ((ITerm < 0) && (itermErrorRate > 0)); const bool isDecreasingI = ((ITerm > 0) && (itermErrorRate < 0)) || ((ITerm < 0) && (itermErrorRate > 0));
if ((itermRelax >= ITERM_RELAX_RP_INC) && isDecreasingI) { if ((itermRelax >= ITERM_RELAX_RP_INC) && isDecreasingI) {