Merge pull request #10889 from ctzsnooze/dmin-to-pt2-with-cutoff-optimisation
This commit is contained in:
commit
bdccfc3543
|
@ -1041,7 +1041,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
|
|||
// loop execution to be delayed.
|
||||
const float delta =
|
||||
- (gyroRateDterm[axis] - previousGyroRateDterm[axis]) * pidRuntime.pidFrequency;
|
||||
float preTpaData = pidRuntime.pidCoefficient[axis].Kd * delta;
|
||||
float preTpaD = pidRuntime.pidCoefficient[axis].Kd * delta;
|
||||
|
||||
#if defined(USE_ACC)
|
||||
if (cmpTimeUs(currentTimeUs, levelModeStartTimeUs) > CRASH_RECOVERY_DETECTION_DELAY_US) {
|
||||
|
@ -1052,12 +1052,12 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
|
|||
#if defined(USE_D_MIN)
|
||||
float dMinFactor = 1.0f;
|
||||
if (pidRuntime.dMinPercent[axis] > 0) {
|
||||
float dMinGyroFactor = biquadFilterApply(&pidRuntime.dMinRange[axis], delta);
|
||||
float dMinGyroFactor = pt2FilterApply(&pidRuntime.dMinRange[axis], delta);
|
||||
dMinGyroFactor = fabsf(dMinGyroFactor) * pidRuntime.dMinGyroGain;
|
||||
const float dMinSetpointFactor = (fabsf(pidSetpointDelta)) * pidRuntime.dMinSetpointGain;
|
||||
dMinFactor = MAX(dMinGyroFactor, dMinSetpointFactor);
|
||||
dMinFactor = pidRuntime.dMinPercent[axis] + (1.0f - pidRuntime.dMinPercent[axis]) * dMinFactor;
|
||||
dMinFactor = pt1FilterApply(&pidRuntime.dMinLowpass[axis], dMinFactor);
|
||||
dMinFactor = pt2FilterApply(&pidRuntime.dMinLowpass[axis], dMinFactor);
|
||||
dMinFactor = MIN(dMinFactor, 1.0f);
|
||||
if (axis == FD_ROLL) {
|
||||
DEBUG_SET(DEBUG_D_MIN, 0, lrintf(dMinGyroFactor * 100));
|
||||
|
@ -1069,17 +1069,17 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
|
|||
}
|
||||
|
||||
// Apply the dMinFactor
|
||||
preTpaData *= dMinFactor;
|
||||
preTpaD *= dMinFactor;
|
||||
#endif
|
||||
pidData[axis].D = preTpaData * tpaFactor;
|
||||
pidData[axis].D = preTpaD * tpaFactor;
|
||||
|
||||
// Log the value of D pre application of TPA
|
||||
preTpaData *= D_LPF_FILT_SCALE;
|
||||
preTpaD *= D_LPF_FILT_SCALE;
|
||||
|
||||
if (axis == FD_ROLL) {
|
||||
DEBUG_SET(DEBUG_D_LPF, 2, lrintf(preTpaData));
|
||||
DEBUG_SET(DEBUG_D_LPF, 2, lrintf(preTpaD));
|
||||
} else if (axis == FD_PITCH) {
|
||||
DEBUG_SET(DEBUG_D_LPF, 3, lrintf(preTpaData));
|
||||
DEBUG_SET(DEBUG_D_LPF, 3, lrintf(preTpaD));
|
||||
}
|
||||
} else {
|
||||
pidData[axis].D = 0;
|
||||
|
|
|
@ -329,8 +329,8 @@ typedef struct pidRuntime_s {
|
|||
#endif
|
||||
|
||||
#ifdef USE_D_MIN
|
||||
biquadFilter_t dMinRange[XYZ_AXIS_COUNT];
|
||||
pt1Filter_t dMinLowpass[XYZ_AXIS_COUNT];
|
||||
pt2Filter_t dMinRange[XYZ_AXIS_COUNT];
|
||||
pt2Filter_t dMinLowpass[XYZ_AXIS_COUNT];
|
||||
float dMinPercent[XYZ_AXIS_COUNT];
|
||||
float dMinGyroGain;
|
||||
float dMinSetpointGain;
|
||||
|
|
|
@ -46,10 +46,10 @@
|
|||
#include "pid_init.h"
|
||||
|
||||
#if defined(USE_D_MIN)
|
||||
#define D_MIN_RANGE_HZ 80 // Biquad lowpass input cutoff to peak D around propwash frequencies
|
||||
#define D_MIN_LOWPASS_HZ 10 // PT1 lowpass cutoff to smooth the boost effect
|
||||
#define D_MIN_GAIN_FACTOR 0.00005f
|
||||
#define D_MIN_SETPOINT_GAIN_FACTOR 0.00005f
|
||||
#define D_MIN_RANGE_HZ 85 // PT2 lowpass input cutoff to peak D around propwash frequencies
|
||||
#define D_MIN_LOWPASS_HZ 35 // PT2 lowpass cutoff to smooth the boost effect
|
||||
#define D_MIN_GAIN_FACTOR 0.00008f
|
||||
#define D_MIN_SETPOINT_GAIN_FACTOR 0.00008f
|
||||
#endif
|
||||
|
||||
#define ANTI_GRAVITY_THROTTLE_FILTER_CUTOFF 15 // The anti gravity throttle highpass filter cutoff
|
||||
|
@ -224,8 +224,8 @@ void pidInitFilters(const pidProfile_t *pidProfile)
|
|||
// in-flight adjustments and transition from 0 to > 0 in flight the feature
|
||||
// won't work because the filter wasn't initialized.
|
||||
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
|
||||
biquadFilterInitLPF(&pidRuntime.dMinRange[axis], D_MIN_RANGE_HZ, targetPidLooptime);
|
||||
pt1FilterInit(&pidRuntime.dMinLowpass[axis], pt1FilterGain(D_MIN_LOWPASS_HZ, pidRuntime.dT));
|
||||
pt2FilterInit(&pidRuntime.dMinRange[axis], pt2FilterGain(D_MIN_RANGE_HZ, pidRuntime.dT));
|
||||
pt2FilterInit(&pidRuntime.dMinLowpass[axis], pt2FilterGain(D_MIN_LOWPASS_HZ, pidRuntime.dT));
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
Loading…
Reference in New Issue