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atbetaflight
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Merge branch 'betaflight' into ready_to_merge 

# Conflicts:
#	src/main/io/serial_msp.c
This commit is contained in:
blckmn 2016-06-20 18:16:22 +10:00
parent 7bff5bed12 0c5ea0f5c6
commit c889f00d26
3 changed files with 32 additions and 28 deletions
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2
src/main/flight/mixer.c
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@ -831,7 +831,7 @@ void mixTable(void)
rollPitchYawMix[i] = qMultiply(mixReduction,rollPitchYawMix[i]);
}
// Get the maximum correction by setting offset to center
throttleMin = throttleMax = throttleMin + (throttleRange / 2);
if (!escAndServoConfig->escDesyncProtection) throttleMin = throttleMax = throttleMin + (throttleRange / 2);
} else {
throttleMin = throttleMin + (rollPitchYawMixRange / 2);
throttleMax = throttleMax - (rollPitchYawMixRange / 2);

14
src/main/flight/pid.c
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@ -174,13 +174,13 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, uint16_t max_angle_incli
// Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
// -----calculate scaled error.AngleRates
// multiplication of rcCommand corresponds to changing the sticks scaling here
RateError = (angleRate[axis] - gyroRate) * errorLimiter;
RateError = angleRate[axis] - gyroRate;
// Smoothed Error for Derivative
if (flightModeFlags && axis != YAW) {
RateErrorSmooth = RateError;
} else {
RateErrorSmooth = (angleRateSmooth[axis] - gyroRate) * errorLimiter;
RateErrorSmooth = angleRateSmooth[axis] - gyroRate;
}
// -----calculate P component
@ -194,7 +194,7 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, uint16_t max_angle_incli
// -----calculate I component.
uint16_t kI = (pidProfile->dynamic_pid) ? getDynamicKi(axis, pidProfile, (int32_t)angleRate[axis]) : pidProfile->I8[axis];
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + luxITermScale * RateError * getdT() * kI, -250.0f, 250.0f);
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + luxITermScale * errorLimiter * RateError * getdT() * kI, -250.0f, 250.0f);
// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
// I coefficient (I8) moved before integration to make limiting independent from PID settings
@ -299,13 +299,13 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, uint16_t max_angl
// multiplication of rcCommand corresponds to changing the sticks scaling here
gyroRate = gyroADC[axis] / 4;
RateError = (AngleRateTmp - gyroRate) * errorLimiter;
RateError = AngleRateTmp - gyroRate;
// Smoothed Error for Derivative
if (flightModeFlags && axis != YAW) {
RateErrorSmooth = RateError;
} else {
RateErrorSmooth = (AngleRateTmpSmooth - gyroRate) * errorLimiter;
RateErrorSmooth = AngleRateTmpSmooth - gyroRate;
}
// -----calculate P component
@ -323,7 +323,9 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, uint16_t max_angl
// is normalized to cycle time = 2048.
uint16_t kI = (pidProfile->dynamic_pid) ? getDynamicKi(axis, pidProfile, AngleRateTmp) : pidProfile->I8[axis];
errorGyroI[axis] = errorGyroI[axis] + ((RateError * (uint16_t)targetPidLooptime) >> 11) * kI;
int32_t rateErrorLimited = errorLimiter * RateError;
errorGyroI[axis] = errorGyroI[axis] + ((rateErrorLimited * (uint16_t)targetPidLooptime) >> 11) * kI;
// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
// I coefficient (I8) moved before integration to make limiting independent from PID settings

44
src/main/io/serial_msp.c
View File

@ -1258,9 +1258,10 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(masterConfig.sensorAlignmentConfig.mag_align);
break;
case MSP_PID_ADVANCED_CONFIG :
headSerialReply(5);
headSerialReply(6);
serialize8(masterConfig.gyro_sync_denom);
serialize8(masterConfig.pid_process_denom);
serialize8(0);
serialize8(masterConfig.motor_pwm_protocol);
serialize16(masterConfig.motor_pwm_rate);
break;
@ -1712,26 +1713,6 @@ static bool processInCommand(void)
case MSP_SET_BF_CONFIG:
case MSP_SET_PID_ADVANCED_CONFIG :
masterConfig.gyro_sync_denom = read8();
masterConfig.pid_process_denom = read8();
masterConfig.motor_pwm_protocol = read8();
masterConfig.motor_pwm_rate = read16();
break;
case MSP_SET_FILTER_CONFIG :
masterConfig.gyro_soft_lpf_hz = read8();
currentProfile->pidProfile.dterm_lpf_hz = read16();
currentProfile->pidProfile.yaw_lpf_hz = read16();
break;
case MSP_SET_ADVANCED_TUNING:
currentProfile->pidProfile.rollPitchItermIgnoreRate = read16();
currentProfile->pidProfile.yawItermIgnoreRate = read16();
currentProfile->pidProfile.yaw_p_limit = read16();
break;
case MSP_SET_TEMPORARY_COMMANDS:
currentControlRateProfile->rcYawRate8 = read8();
break;
#ifdef USE_QUAD_MIXER_ONLY
read8(); // mixerMode ignored
#else
@ -1846,6 +1827,27 @@ static bool processInCommand(void)
// proceed as usual with MSP commands
break;
#endif
case MSP_SET_PID_ADVANCED_CONFIG :
masterConfig.gyro_sync_denom = read8();
masterConfig.pid_process_denom = read8();
read8();
masterConfig.motor_pwm_protocol = read8();
masterConfig.motor_pwm_rate = read16();
break;
case MSP_SET_FILTER_CONFIG :
masterConfig.gyro_soft_lpf_hz = read8();
currentProfile->pidProfile.dterm_lpf_hz = read16();
currentProfile->pidProfile.yaw_lpf_hz = read16();
break;
case MSP_SET_ADVANCED_TUNING:
currentProfile->pidProfile.rollPitchItermIgnoreRate = read16();
currentProfile->pidProfile.yawItermIgnoreRate = read16();
currentProfile->pidProfile.yaw_p_limit = read16();
break;
case MSP_SET_TEMPORARY_COMMANDS:
currentControlRateProfile->rcYawRate8 = read8();
break;
default:
// we do not know how to handle the (valid) message, indicate error MSP $M!
return false;