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Dterm robust differentiator Initial Implementation

This commit is contained in:
borisbstyle 2016-04-27 21:08:15 +02:00
parent f4219aebba
commit cbcf028302
4 changed files with 35 additions and 46 deletions
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2
src/main/config/config.c
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@ -179,7 +179,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
pidProfile->yaw_lpf_hz = 70.0f;
pidProfile->dterm_average_count = 0;
pidProfile->dynamic_dterm_threshold = 20;
pidProfile->dterm_differentiator = 1;
pidProfile->rollPitchItermResetRate = 200;
pidProfile->yawItermResetRate = 50;
pidProfile->dterm_lpf_hz = 70.0f; // filtering ON by default

70
src/main/flight/pid.c
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@ -130,10 +130,8 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
{
float RateError, AngleRate, gyroRate;
float ITerm,PTerm,DTerm;
static float lastErrorForDelta[3];
static float deltaState[3][DELTA_MAX_SAMPLES];
static float lastRate[3][PID_LAST_RATE_COUNT];
float delta;
float dynamicDTermGain;
int axis;
float horizonLevelStrength = 1;
@ -234,33 +232,28 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
if (pidProfile->yaw_lpf_hz) PTerm = filterApplyPt1(PTerm, &yawFilterState, pidProfile->yaw_lpf_hz, getdT());
DTerm = 0;
} else {
if (pidProfile->deltaMethod == DELTA_FROM_ERROR) {
delta = RateError - lastErrorForDelta[axis];
lastErrorForDelta[axis] = RateError;
if (pidProfile->dterm_differentiator) {
// Calculate derivative using noise-robust differentiator without time delay (one-sided or forward filters)
// by Pavel Holoborodko, see http://www.holoborodko.com/pavel/numerical-methods/numerical-derivative/smooth-low-noise-differentiators/
// N=5: h[0] = 3/8, h[-1] = 1/2, h[-2] = -1/2, h[-3] = -3/4, h[-4] = 1/8, h[-5] = 1/4
delta = -(3*gyroRate + 4*lastRate[axis][0] - 4*lastRate[axis][1] - 6*lastRate[axis][2] + 1*lastRate[axis][3] + 2*lastRate[axis][4]) / 8;
for (int i = PID_LAST_RATE_COUNT - 1; i > 0; i--) {
lastRate[axis][i] = lastRate[axis][i-1];
}
} else {
delta = -(gyroRate - lastErrorForDelta[axis]); // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
lastErrorForDelta[axis] = gyroRate;
// When DTerm low pass filter disabled apply moving average to reduce noise
delta = -(gyroRate - lastRate[axis][0]);
}
// Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
// would be scaled by different dt each time. Division by dT fixes that.
delta *= (1.0f / getdT());
lastRate[axis][0] = gyroRate;
// Several different Dterm filtering methods to prevent noise. All of them can be combined
// Divide delta by targetLooptime to get differential (ie dr/dt)
delta *= (1.0f / getdT());
// Filter delta
if (pidProfile->dterm_lpf_hz) delta = filterApplyPt1(delta, &deltaFilterState[axis], pidProfile->dterm_lpf_hz, getdT());
// Apply moving average
if (pidProfile->dterm_average_count) delta = filterApplyAveragef(delta, pidProfile->dterm_average_count, deltaState[axis]) * 2;
DTerm = constrainf(luxDTermScale * delta * (float)pidProfile->D8[axis] * tpaFactor, -300.0f, 300.0f);
// Dynamic D Implementation
if (pidProfile->dynamic_dterm_threshold) {
dynamicDTermGain = constrainf(ABS(DTerm) / pidProfile->dynamic_dterm_threshold, 0.0f, 1.0f);
DTerm *= dynamicDTermGain;
}
}
// -----calculate total PID output
@ -289,10 +282,8 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
int axis;
int32_t PTerm, ITerm, DTerm, delta;
static int32_t lastErrorForDelta[3] = { 0, 0, 0 };
static int32_t deltaState[3][DELTA_MAX_SAMPLES];
static int32_t lastRate[3][PID_LAST_RATE_COUNT];
int32_t AngleRateTmp, RateError, gyroRate;
int32_t dynamicDTermGain;
int8_t horizonLevelStrength = 100;
@ -389,33 +380,28 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
if (pidProfile->yaw_lpf_hz) PTerm = filterApplyPt1(PTerm, &yawFilterState, pidProfile->yaw_lpf_hz, getdT());
DTerm = 0;
} else {
if (pidProfile->deltaMethod == DELTA_FROM_ERROR) {
delta = RateError - lastErrorForDelta[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
lastErrorForDelta[axis] = RateError;
if (pidProfile->dterm_differentiator) {
// Calculate derivative using noise-robust differentiator without time delay (one-sided or forward filters)
// by Pavel Holoborodko, see http://www.holoborodko.com/pavel/numerical-methods/numerical-derivative/smooth-low-noise-differentiators/
// N=5: h[0] = 3/8, h[-1] = 1/2, h[-2] = -1/2, h[-3] = -3/4, h[-4] = 1/8, h[-5] = 1/4
delta = -(3*gyroRate + 4*lastRate[axis][0] - 4*lastRate[axis][1] - 6*lastRate[axis][2] + 1*lastRate[axis][3] + 2*lastRate[axis][4]) / 8;
for (int i = PID_LAST_RATE_COUNT - 1; i > 0; i--) {
lastRate[axis][i] = lastRate[axis][i-1];
}
} else {
delta = -(gyroRate - lastErrorForDelta[axis]); // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
lastErrorForDelta[axis] = gyroRate;
// When DTerm low pass filter disabled apply moving average to reduce noise
delta = -(gyroRate - lastRate[axis][0]);
}
// Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
// would be scaled by different dt each time. Division by dT fixes that.
delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetPidLooptime >> 4))) >> 5;
lastRate[axis][0] = gyroRate;
// Several different Dterm filtering methods to prevent noise. All of them can be combined
// Divide delta by targetLooptime to get differential (ie dr/dt)
delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetPidLooptime >> 4))) >> 5;
// Filter delta
if (pidProfile->dterm_lpf_hz) delta = filterApplyPt1((float)delta, &deltaFilterState[axis], pidProfile->dterm_lpf_hz, getdT());
// Apply moving average
if (pidProfile->dterm_average_count) delta = filterApplyAverage(delta, pidProfile->dterm_average_count, deltaState[axis]);
DTerm = (delta * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
// Dynamic D Implementation
if (pidProfile->dynamic_dterm_threshold) {
dynamicDTermGain = constrain((ABS(DTerm) << 7) / pidProfile->dynamic_dterm_threshold, 0, 1 << 7);
DTerm = (DTerm * dynamicDTermGain) >> 7;
}
}
// -----calculate total PID output

6
src/main/flight/pid.h
View File

@ -22,6 +22,10 @@
#define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter
#define YAW_P_LIMIT_MAX 400 // Maximum value for yaw P limiter
#define PID_LAST_RATE_COUNT 7
#define PID_DTERM_FIR_MAX_LENGTH 7
#define PID_MAX_DIFFERENTIATOR (PID_DTERM_FIR_MAX_LENGTH-2)
typedef enum {
PIDROLL,
PIDPITCH,
@ -71,7 +75,7 @@ typedef struct pidProfile_s {
uint8_t deltaMethod; // Alternative delta Calculation
uint16_t yaw_p_limit;
uint8_t dterm_average_count; // Configurable delta count for dterm
uint8_t dynamic_dterm_threshold;
uint8_t dterm_differentiator;
#ifdef GTUNE
uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune

3
src/main/io/serial_cli.c
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@ -721,8 +721,7 @@ const clivalue_t valueTable[] = {
{ "mag_declination", VAR_INT16 | MASTER_VALUE, &masterConfig.mag_declination, .config.minmax = { -18000, 18000 } },
{ "pid_delta_method", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.deltaMethod, .config.lookup = { TABLE_DELTA_METHOD } },
{ "dterm_lowpass_hz", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
{ "dterm_average_count", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_average_count, .config.minmax = {0, 12 } },
{ "dynamic_dterm_threshold", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dynamic_dterm_threshold, .config.minmax = {0, 100 } },
{ "dterm_differentiator", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dterm_differentiator, .config.lookup = { TABLE_OFF_ON } },
{ "iterm_reset_degrees", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermResetRate, .config.minmax = {50, 1000 } },
{ "yaw_iterm_reset_degrees", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermResetRate, .config.minmax = {25, 1000 } },
{ "yaw_lowpass_hz", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },