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Removed VBat PID compensation.

This commit is contained in:
mikeller 2020-03-24 02:54:49 +13:00
parent 97ad043f9e
commit b6689edc26
13 changed files with 7 additions and 27 deletions
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1
src/main/blackbox/blackbox.c
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@ -1330,7 +1330,6 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("iterm_relax_type", "%d", currentPidProfile->iterm_relax_type);
BLACKBOX_PRINT_HEADER_LINE("iterm_relax_cutoff", "%d", currentPidProfile->iterm_relax_cutoff);
#endif
BLACKBOX_PRINT_HEADER_LINE("vbat_pid_gain", "%d", currentPidProfile->vbatPidCompensation);
BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle", "%d", currentPidProfile->pidAtMinThrottle);
// Betaflight PID controller parameters

1
src/main/cli/settings.c
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@ -1008,7 +1008,6 @@ const clivalue_t valueTable[] = {
{ "dterm_lowpass2_hz", VAR_INT16 | PROFILE_VALUE, .config.minmax = { 0, FILTER_FREQUENCY_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lowpass2_hz) },
{ "dterm_notch_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, FILTER_FREQUENCY_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_notch_hz) },
{ "dterm_notch_cutoff", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, FILTER_FREQUENCY_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_notch_cutoff) },
{ "vbat_pid_gain", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, vbatPidCompensation) },
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
{ "vbat_sag_compensation", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 150 }, PG_PID_PROFILE, offsetof(pidProfile_t, vbat_sag_compensation) },
#endif

2
src/main/fc/core.c
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@ -1189,7 +1189,7 @@ static FAST_CODE void subTaskMotorUpdate(timeUs_t currentTimeUs)
startTime = micros();
}
mixTable(currentTimeUs, currentPidProfile->vbatPidCompensation);
mixTable(currentTimeUs);
#ifdef USE_SERVOS
// motor outputs are used as sources for servo mixing, so motors must be calculated using mixTable() before servos.

7
src/main/flight/mixer.c
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@ -827,7 +827,7 @@ static void updateDynLpfCutoffs(timeUs_t currentTimeUs, float throttle)
}
#endif
FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensation)
FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
{
// Find min and max throttle based on conditions. Throttle has to be known before mixing
calculateThrottleAndCurrentMotorEndpoints(currentTimeUs);
@ -869,9 +869,6 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
scaledAxisPidYaw = -scaledAxisPidYaw;
}
// Calculate voltage compensation
const float vbatCompensationFactor = vbatPidCompensation ? calculateVbatPidCompensation() : 1.0f;
// Apply the throttle_limit_percent to scale or limit the throttle based on throttle_limit_type
if (currentControlRateProfile->throttle_limit_type != THROTTLE_LIMIT_TYPE_OFF) {
throttle = applyThrottleLimit(throttle);
@ -905,8 +902,6 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
scaledAxisPidPitch * activeMixer[i].pitch +
scaledAxisPidYaw * activeMixer[i].yaw;
mix *= vbatCompensationFactor; // Add voltage compensation
if (mix > motorMixMax) {
motorMixMax = mix;
} else if (mix < motorMixMin) {

2
src/main/flight/mixer.h
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@ -106,7 +106,7 @@ void mixerInitProfile(void);
void mixerConfigureOutput(void);
void mixerResetDisarmedMotors(void);
void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensation);
void mixTable(timeUs_t currentTimeUs);
void stopMotors(void);
void writeMotors(void);

1
src/main/flight/pid.c
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@ -139,7 +139,6 @@ void resetPidProfile(pidProfile_t *pidProfile)
.dterm_notch_hz = 0,
.dterm_notch_cutoff = 0,
.itermWindupPointPercent = 100,
.vbatPidCompensation = 0,
.pidAtMinThrottle = PID_STABILISATION_ON,
.levelAngleLimit = 55,
.feedForwardTransition = 0,

1
src/main/flight/pid.h
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@ -149,7 +149,6 @@ typedef struct pidProfile_s {
uint16_t crash_delay; // ms
uint8_t crash_recovery_angle; // degrees
uint8_t crash_recovery_rate; // degree/second
uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage
uint8_t feedForwardTransition; // Feed forward weight transition
uint16_t crash_limit_yaw; // limits yaw errorRate, so crashes don't cause huge throttle increase
uint16_t itermLimit;

4
src/main/msp/msp.c
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@ -1745,7 +1745,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0); // was pidProfile.yaw_p_limit
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, currentPidProfile->vbatPidCompensation);
sbufWriteU8(dst, 0); // was vbatPidCompensation
sbufWriteU8(dst, currentPidProfile->feedForwardTransition);
sbufWriteU8(dst, 0); // was low byte of currentPidProfile->dtermSetpointWeight
sbufWriteU8(dst, 0); // reserved
@ -2594,7 +2594,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
sbufReadU16(src);
sbufReadU16(src); // was pidProfile.yaw_p_limit
sbufReadU8(src); // reserved
currentPidProfile->vbatPidCompensation = sbufReadU8(src);
sbufReadU8(src); // was vbatPidCompensation
currentPidProfile->feedForwardTransition = sbufReadU8(src);
sbufReadU8(src); // was low byte of currentPidProfile->dtermSetpointWeight
sbufReadU8(src); // reserved

9
src/main/sensors/battery.c
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@ -460,15 +460,6 @@ void batteryUpdateCurrentMeter(timeUs_t currentTimeUs)
}
}
float calculateVbatPidCompensation(void) {
float batteryScaler = 1.0f;
if (batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE && batteryCellCount > 0) {
// Up to 33% PID gain. Should be fine for 4,2to 3,3 difference
batteryScaler = constrainf((( (float)batteryConfig()->vbatmaxcellvoltage * batteryCellCount ) / (float) voltageMeter.displayFiltered), 1.0f, 1.33f);
}
return batteryScaler;
}
uint8_t calculateBatteryPercentageRemaining(void)
{
uint8_t batteryPercentage = 0;

1
src/main/sensors/battery.h
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@ -101,7 +101,6 @@ void batteryUpdateAlarms(void);
struct rxConfig_s;
float calculateVbatPidCompensation(void);
uint8_t calculateBatteryPercentageRemaining(void);
bool isBatteryVoltageConfigured(void);
uint16_t getBatteryVoltage(void);

2
src/test/unit/arming_prevention_unittest.cc
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@ -1047,7 +1047,7 @@ extern "C" {
bool isFirstArmingGyroCalibrationRunning(void) { return false; }
void pidController(const pidProfile_t *, timeUs_t) {}
void pidStabilisationState(pidStabilisationState_e) {}
void mixTable(timeUs_t , uint8_t) {};
void mixTable(timeUs_t) {};
void writeMotors(void) {};
void writeServos(void) {};
bool calculateRxChannelsAndUpdateFailsafe(timeUs_t) { return true; }

1
src/test/unit/pid_unittest.cc
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@ -114,7 +114,6 @@ void setDefaultTestSettings(void) {
pidProfile->dterm_notch_cutoff = 160;
pidProfile->dterm_filter_type = FILTER_BIQUAD;
pidProfile->itermWindupPointPercent = 50;
pidProfile->vbatPidCompensation = 0;
pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
pidProfile->levelAngleLimit = 55;
pidProfile->feedForwardTransition = 100;

2
src/test/unit/vtx_unittest.cc
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@ -139,7 +139,7 @@ extern "C" {
bool isFirstArmingGyroCalibrationRunning(void) { return false; }
void pidController(const pidProfile_t *, timeUs_t) {}
void pidStabilisationState(pidStabilisationState_e) {}
void mixTable(timeUs_t , uint8_t) {};
void mixTable(timeUs_t) {};
void writeMotors(void) {};
void writeServos(void) {};
bool calculateRxChannelsAndUpdateFailsafe(timeUs_t) { return true; }