Yaw pterm_cut_hz (derived from pterm_cut_hz)
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@ -5,6 +5,8 @@
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* Author: borisb
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*/
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#define YAW_PTERM_CUT_RATIO 2
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typedef struct filterStatePt1_s {
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float state;
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float RC;
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@ -188,7 +188,12 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
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// Pterm low pass
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if (pidProfile->pterm_cut_hz) {
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PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
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if (axis == YAW) {
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PTerm = filterApplyPt1(PTerm, &PTermState[axis], constrain(pidProfile->pterm_cut_hz / YAW_PTERM_CUT_RATIO, 1, pidProfile->pterm_cut_hz), dT);
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}
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else {
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PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
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}
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}
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// -----calculate I component.
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@ -298,7 +303,12 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
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// Pterm low pass
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if (pidProfile->pterm_cut_hz) {
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PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
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if (axis == YAW) {
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PTerm = filterApplyPt1(PTerm, &PTermState[axis], constrain(pidProfile->pterm_cut_hz / YAW_PTERM_CUT_RATIO, 1, pidProfile->pterm_cut_hz), dT);
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}
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else {
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PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
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}
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}
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delta = (gyroADC[axis] - lastGyro[axis]) / 4;
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@ -388,7 +398,12 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
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// Pterm low pass
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if (pidProfile->pterm_cut_hz) {
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PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
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if (axis == YAW) {
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PTerm = filterApplyPt1(PTerm, &PTermState[axis], constrain(pidProfile->pterm_cut_hz / YAW_PTERM_CUT_RATIO, 1, pidProfile->pterm_cut_hz), dT);
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}
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else {
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PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
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}
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}
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delta = (gyroADC[axis] - lastGyro[axis]) / 4; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
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@ -512,8 +527,14 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
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// Pterm low pass
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if (pidProfile->pterm_cut_hz) {
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PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
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if (axis == YAW) {
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PTerm = filterApplyPt1(PTerm, &PTermState[axis], constrain(pidProfile->pterm_cut_hz / YAW_PTERM_CUT_RATIO, 1, pidProfile->pterm_cut_hz), dT);
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}
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else {
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PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
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}
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}
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delta = (gyroADC[axis] - lastGyro[axis]) / 4;
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lastGyro[axis] = gyroADC[axis];
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deltaSum = delta1[axis] + delta2[axis] + delta;
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@ -685,7 +706,7 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
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// Pterm low pass
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if (pidProfile->pterm_cut_hz) {
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PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
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PTerm = filterApplyPt1(PTerm, &PTermState[axis], constrain(pidProfile->pterm_cut_hz / YAW_PTERM_CUT_RATIO, 1, pidProfile->pterm_cut_hz), dT);
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}
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axisPID[FD_YAW] = PTerm + ITerm;
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@ -780,7 +801,12 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
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// Pterm low pass
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if (pidProfile->pterm_cut_hz) {
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PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
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if (axis == YAW) {
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PTerm = filterApplyPt1(PTerm, &PTermState[axis], constrain(pidProfile->pterm_cut_hz / YAW_PTERM_CUT_RATIO, 1, pidProfile->pterm_cut_hz), dT);
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}
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else {
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PTerm = filterApplyPt1(PTerm, &PTermState[axis], pidProfile->pterm_cut_hz, dT);
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}
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}
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// -----calculate I component
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