rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Move to pid.c, add relax to offset drag based component, make configurable

This commit is contained in:
Thorsten Laux 2018-12-09 14:21:44 +01:00
parent 4442de5591
commit d4512672fe
3 changed files with 20 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
src/main/flight/pid.c
View File

@ -178,6 +178,8 @@ void resetPidProfile(pidProfile_t *pidProfile)
.launchControlAngleLimit = 0,
.launchControlGain = 40,
.launchControlAllowTriggerReset = true,
.use_integrated_yaw = false,
.integrated_yaw_relax = 200
);
#ifdef USE_DYN_LPF
pidProfile->dterm_lowpass_hz = 150;
@ -436,6 +438,8 @@ static FAST_RAM_ZERO_INIT uint8_t launchControlMode;
static FAST_RAM_ZERO_INIT uint8_t launchControlAngleLimit;
static FAST_RAM_ZERO_INIT float launchControlKi;
#endif
static FAST_RAM_ZERO_INIT bool useIntegratedYaw;
static FAST_RAM_ZERO_INIT uint8_t integratedYawRelax;
void pidResetIterm(void)
{
@ -573,6 +577,8 @@ void pidInitConfig(const pidProfile_t *pidProfile)
}
launchControlKi = ITERM_SCALE * pidProfile->launchControlGain;
#endif
useIntegratedYaw = pidProfile->use_integrated_yaw;
integratedYawRelax = pidProfile->integrated_yaw_relax;
}
void pidInit(const pidProfile_t *pidProfile)
@ -1241,7 +1247,13 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
}
#endif
// calculating the PID sum
pidData[axis].Sum = pidData[axis].P + pidData[axis].I + pidData[axis].D + pidData[axis].F;
const float pidSum = pidData[axis].P + pidData[axis].I + pidData[axis].D + pidData[axis].F;
if (axis == FD_YAW && useIntegratedYaw) {
pidData[axis].Sum += pidSum * dT * 100.0f;
pidData[axis].Sum -= pidData[axis].Sum * integratedYawRelax / 100000.0f * dT / 0.000125f;
} else {
pidData[axis].Sum = pidSum;
}
}
// Disable PID control if at zero throttle or if gyro overflow detected

3
src/main/flight/pid.h
View File

@ -156,7 +156,10 @@ typedef struct pidProfile_s {
uint8_t launchControlAngleLimit; // Optional launch control angle limit (requires ACC)
uint8_t launchControlGain; // Iterm gain used while launch control is active
uint8_t launchControlAllowTriggerReset; // Controls trigger behavior and whether the trigger can be reset
uint8_t use_integrated_yaw; // Selects whether the yaw pidsum should integrated
uint8_t integrated_yaw_relax; // Specifies how much integrated yaw should be reduced to offset the drag based yaw component
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);

4
src/main/interface/settings.c
View File

@ -936,6 +936,10 @@ const clivalue_t valueTable[] = {
{ "abs_control_error_limit", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 1, 45 }, PG_PID_PROFILE, offsetof(pidProfile_t, abs_control_error_limit) },
#endif
{ "use_integrated_yaw", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = {TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, use_integrated_yaw) },
{ "integrated_yaw_relax", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, integrated_yaw_relax) },
#ifdef USE_LAUNCH_CONTROL
{ "launch_control_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LAUNCH_CONTROL_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlMode) },
{ "launch_trigger_allow_reset", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlAllowTriggerReset) },