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atbetaflight
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Merge branch 'master' into development

This commit is contained in:
borisbstyle 2016-08-09 23:42:18 +02:00
parent 107f09d6e1 ea67304a1a
commit d45fcdd9ae
6 changed files with 51 additions and 66 deletions
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66
.travis.yml
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@ -2,51 +2,51 @@ env:
# - RUNTESTS=True
# - PUBLISHMETA=True
# - PUBLISHDOCS=True
- TARGET=AFROMINI
- TARGET=AIORACERF3
- TARGET=AIR32
- TARGET=ALIENFLIGHTF1
# - TARGET=AFROMINI
# - TARGET=AIORACERF3
# - TARGET=AIR32
# - TARGET=ALIENFLIGHTF1
- TARGET=ALIENFLIGHTF3
- TARGET=ALIENFLIGHTF4
- TARGET=BLUEJAYF4
- TARGET=CC3D
- TARGET=CC3D_OPBL
- TARGET=CHEBUZZF3
- TARGET=CJMCU
- TARGET=COLIBRI
- TARGET=COLIBRI_RACE
- TARGET=DOGE
- TARGET=EUSTM32F103RC
- TARGET=F4BY
- TARGET=FURYF3
# - TARGET=CHEBUZZF3
# - TARGET=CJMCU
# - TARGET=COLIBRI
# - TARGET=COLIBRI_RACE
# - TARGET=DOGE
# - TARGET=EUSTM32F103RC
# - TARGET=F4BY
# - TARGET=FURYF3
- TARGET=FURYF4
- TARGET=IRCFUSIONF3
- TARGET=KISSFC
- TARGET=LUX_RACE
- TARGET=MICROSCISKY
- TARGET=MOTOLAB
# - TARGET=IRCFUSIONF3
# - TARGET=KISSFC
# - TARGET=LUX_RACE
# - TARGET=MICROSCISKY
# - TARGET=MOTOLAB
- TARGET=NAZE
- TARGET=OLIMEXINO
- TARGET=OMNIBUS
- TARGET=OMNIBUSF4
- TARGET=PIKOBLX
- TARGET=PORT103R
# - TARGET=OLIMEXINO
# - TARGET=OMNIBUS
# - TARGET=OMNIBUSF4
# - TARGET=PIKOBLX
# - TARGET=PORT103R
- TARGET=REVO
- TARGET=REVONANO
- TARGET=REVO_OPBL
- TARGET=RMDO
- TARGET=SINGULARITY
- TARGET=SIRINFPV
# - TARGET=REVONANO
# - TARGET=REVO_OPBL
# - TARGET=RMDO
# - TARGET=SINGULARITY
# - TARGET=SIRINFPV
- TARGET=SPARKY
- TARGET=SPARKY2
- TARGET=SPARKY_OPBL
# - TARGET=SPARKY2
# - TARGET=SPARKY_OPBL
- TARGET=SPRACINGF3
- TARGET=SPRACINGF3EVO
- TARGET=SPRACINGF3MINI
# - TARGET=SPRACINGF3MINI
- TARGET=STM32F3DISCOVERY
- TARGET=VRRACE
- TARGET=X_RACERSPI
- TARGET=ZCOREF3
# - TARGET=VRRACE
# - TARGET=X_RACERSPI
# - TARGET=ZCOREF3
# use new docker environment
sudo: false

13
src/main/config/config.c
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@ -208,7 +208,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->D8[ROLL] = 20;
pidProfile->P8[PITCH] = 60;
pidProfile->I8[PITCH] = 60;
pidProfile->D8[PITCH] = 25;
pidProfile->D8[PITCH] = 22;
pidProfile->P8[YAW] = 80;
pidProfile->I8[YAW] = 45;
pidProfile->D8[YAW] = 20;
@ -234,15 +234,15 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
pidProfile->yaw_lpf_hz = 80;
pidProfile->rollPitchItermIgnoreRate = 200;
pidProfile->yawItermIgnoreRate = 50;
pidProfile->rollPitchItermIgnoreRate = 130;
pidProfile->yawItermIgnoreRate = 32;
pidProfile->dterm_filter_type = FILTER_BIQUAD;
pidProfile->dterm_lpf_hz = 100; // filtering ON by default
pidProfile->dterm_notch_hz = 0;
pidProfile->dterm_notch_cutoff = 150;
pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
pidProfile->vbatPidCompensation = 0;
pidProfile->zeroThrottleStabilisation = PID_STABILISATION_OFF;
pidProfile->pidAtMinThrottle = PID_STABILISATION_OFF;
// Betaflight PID controller parameters
pidProfile->ptermSetpointWeight = 75;
@ -312,10 +312,9 @@ void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
{
#ifdef BRUSHED_MOTORS
escAndServoConfig->minthrottle = 1000;
escAndServoConfig->maxthrottle = 2000;
#else
escAndServoConfig->minthrottle = 1150;
escAndServoConfig->maxthrottle = 1850;
escAndServoConfig->maxthrottle = 2000;
escAndServoConfig->minthrottle = 1070;
#endif
escAndServoConfig->mincommand = 1000;
escAndServoConfig->servoCenterPulse = 1500;

2
src/main/fc/mw.c
View File

@ -537,7 +537,7 @@ void processRx(void)
This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated) {
pidResetErrorGyroState();
if (currentProfile->pidProfile.zeroThrottleStabilisation)
if (currentProfile->pidProfile.pidAtMinThrottle)
pidStabilisationState(PID_STABILISATION_ON);
else
pidStabilisationState(PID_STABILISATION_OFF);

2
src/main/flight/pid.h
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@ -90,7 +90,7 @@ typedef struct pidProfile_s {
uint16_t yaw_p_limit;
uint8_t dterm_average_count; // Configurable delta count for dterm
uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage
uint8_t zeroThrottleStabilisation; // Disable/Enable zero throttle stabilisation. Normally even without airmode P and D would be active.
uint8_t pidAtMinThrottle; // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
// Betaflight PID controller parameters
uint8_t toleranceBand; // Error tolerance area where toleranceBandReduction is applied under certain circumstances

2
src/main/flight/pid_betaflight.c
View File

@ -211,7 +211,7 @@ void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
// -----calculate I component.
// Reduce strong Iterm accumulation during higher stick inputs
float accumulationThreshold = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
float setpointRateScaler = constrainf(1.0f - (1.5f * (ABS(setpointRate[axis]) / accumulationThreshold)), 0.0f, 1.0f);
float setpointRateScaler = constrainf(1.0f - (ABS(setpointRate[axis]) / accumulationThreshold), 0.0f, 1.0f);
// Handle All windup Scenarios
// limit maximum integrator value to prevent WindUp

32
src/main/io/serial_cli.c
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@ -451,6 +451,7 @@ static const char * const lookupTableAccHardware[] = {
"LSM303DLHC",
"MPU6000",
"MPU6500",
"MPU9250",
"FAKE"
};
@ -790,8 +791,8 @@ const clivalue_t valueTable[] = {
{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } },
#endif
{ "rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0, 300 } },
{ "rc_rate_yaw", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawRate8, .config.minmax = { 0, 300 } },
{ "rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0, 255 } },
{ "rc_rate_yaw", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawRate8, .config.minmax = { 0, 255 } },
{ "rc_expo", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcExpo8, .config.minmax = { 0, 100 } },
{ "rc_yaw_expo", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawExpo8, .config.minmax = { 0, 100 } },
{ "thr_mid", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].thrMid8, .config.minmax = { 0, 100 } },
@ -842,7 +843,7 @@ const clivalue_t valueTable[] = {
{ "dterm_notch_hz", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_hz, .config.minmax = { 0, 500 } },
{ "dterm_notch_cutoff", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_cutoff, .config.minmax = { 1, 500 } },
{ "vbat_pid_compensation", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
{ "zero_throttle_stabilisation",VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.zeroThrottleStabilisation, .config.lookup = { TABLE_OFF_ON } },
{ "pid_at_min_throttle", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidAtMinThrottle, .config.lookup = { TABLE_OFF_ON } },
{ "pid_tolerance_band", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.toleranceBand, .config.minmax = {0, 200 } },
{ "tolerance_band_reduction", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.toleranceBandReduction, .config.minmax = {0, 100 } },
{ "zero_cross_allowance", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.zeroCrossAllowanceCount, .config.minmax = {0, 50 } },
@ -927,7 +928,6 @@ const clivalue_t valueTable[] = {
#define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t))
typedef union {
int32_t int_value;
float float_value;
@ -940,8 +940,6 @@ static void cliPrint(const char *str);
static void cliPrintf(const char *fmt, ...);
static void cliWrite(uint8_t ch);
#define printSectionBreak() cliPrintf((char *)sectionBreak)
#define COMPARE_CONFIG(value) (masterConfig.value == defaultConfig.value)
static bool cliDumpPrintf(uint8_t dumpMask, bool equalsDefault, const char *format, ...);
@ -1731,8 +1729,6 @@ static void printServo(uint8_t dumpMask, master_t *defaultConfig)
);
}
printSectionBreak();
// print servo directions
unsigned int channel;
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
@ -2022,10 +2018,9 @@ static void cliSdInfo(char *cmdline) {
; // Nothing more detailed to print
break;
}
cliPrint("\r\n");
break;
}
cliPrint("\r\n");
}
#endif
@ -2326,14 +2321,12 @@ static void printConfig(char *cmdline, bool doDiff)
if ((dumpMask & DUMP_MASTER) || (dumpMask & DUMP_ALL)) {
cliPrint("\r\n# version\r\n");
cliVersion(NULL);
cliPrint("\r\n");
if ((dumpMask & (DUMP_ALL | DO_DIFF)) == (DUMP_ALL | DO_DIFF)) {
cliPrint("\r\n# reset configuration to default settings\r\ndefaults\r\n");
}
printSectionBreak();
cliPrint("# name\r\n");
cliPrint("\r\n# name\r\n");
printName(dumpMask);
cliPrint("\r\n# mixer\r\n");
@ -2460,7 +2453,7 @@ static void printConfig(char *cmdline, bool doDiff)
cliPrint("\r\n# adjrange\r\n");
printAdjustmentRange(dumpMask, &defaultConfig);
cliPrintf("\r\n# rxrange\r\n");
cliPrint("\r\n# rxrange\r\n");
printRxRange(dumpMask, &defaultConfig);
#ifdef USE_SERVOS
@ -2519,26 +2512,19 @@ static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask, master_t *def
{
if (profileIndex >= MAX_PROFILE_COUNT) // Faulty values
return;
changeProfile(profileIndex);
cliPrint("\r\n# profile\r\n");
cliProfile("");
printSectionBreak();
dumpValues(PROFILE_VALUE, dumpMask, defaultConfig);
cliRateProfile("");
}
static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask, master_t *defaultConfig)
{
if (rateProfileIndex >= MAX_RATEPROFILES) // Faulty values
return;
return;
changeControlRateProfile(rateProfileIndex);
cliPrint("\r\n# rateprofile\r\n");
cliRateProfile("");
printSectionBreak();
dumpValues(PROFILE_RATE_VALUE, dumpMask, defaultConfig);
}
@ -3338,7 +3324,7 @@ static void cliVersion(char *cmdline)
{
UNUSED(cmdline);
cliPrintf("# BetaFlight/%s %s %s / %s (%s)",
cliPrintf("# BetaFlight/%s %s %s / %s (%s)\r\n",
targetName,
FC_VERSION_STRING,
buildDate,