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Remove magic number usage. Fix limits for FP based pid controller PID 

adjustments to match those in serial_cli.c.
This commit is contained in:
Dominic Clifton 2015-01-30 21:27:09 +01:00
parent fa18940087
commit ea386e6da2
3 changed files with 13 additions and 13 deletions
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4
src/main/flight/autotune.c
View File

@ -226,8 +226,8 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
return errorAngle;
}
if (pidController == 2) {
// TODO support new baseflight pid controller
if (IS_PID_CONTROLLER_FP_BASED(pidController) {
// TODO support floating point based pid controllers
return errorAngle;
}

18
src/main/io/rc_controls.c
View File

@ -396,9 +396,9 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
case ADJUSTMENT_PITCH_ROLL_P:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->P_f[PIDPITCH] + delta;
pidProfile->P_f[PIDPITCH] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P_f[PIDPITCH] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = (int)pidProfile->P_f[PIDROLL] + delta;
pidProfile->P_f[PIDROLL] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P_f[PIDROLL] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->P8[PIDPITCH] + delta;
pidProfile->P8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
@ -409,9 +409,9 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
case ADJUSTMENT_PITCH_ROLL_I:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->I_f[PIDPITCH] + delta;
pidProfile->I_f[PIDPITCH] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->I_f[PIDPITCH] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = (int)pidProfile->I_f[PIDROLL] + delta;
pidProfile->I_f[PIDROLL] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->I_f[PIDROLL] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->I8[PIDPITCH] + delta;
pidProfile->I8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
@ -422,9 +422,9 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
case ADJUSTMENT_PITCH_ROLL_D:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->D_f[PIDPITCH] + delta;
pidProfile->D_f[PIDPITCH] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->D_f[PIDPITCH] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = (int)pidProfile->D_f[PIDROLL] + delta;
pidProfile->D_f[PIDROLL] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->D_f[PIDROLL] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->D8[PIDPITCH] + delta;
pidProfile->D8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
@ -435,7 +435,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
case ADJUSTMENT_YAW_P:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->P_f[PIDYAW] + delta;
pidProfile->P_f[PIDYAW] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P_f[PIDYAW] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->P8[PIDYAW] + delta;
pidProfile->P8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
@ -444,7 +444,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
case ADJUSTMENT_YAW_I:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->I_f[PIDYAW] + delta;
pidProfile->I_f[PIDYAW] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->I_f[PIDYAW] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->I8[PIDYAW] + delta;
pidProfile->I8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
@ -453,7 +453,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
case ADJUSTMENT_YAW_D:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = (int)pidProfile->D_f[PIDYAW] + delta;
pidProfile->D_f[PIDYAW] = constrain(newFloatValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
pidProfile->D_f[PIDYAW] = constrain(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
} else {
newValue = (int)pidProfile->D8[PIDYAW] + delta;
pidProfile->D8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c

4
src/main/io/serial_msp.c
View File

@ -865,7 +865,7 @@ static bool processOutCommand(uint8_t cmdMSP)
break;
case MSP_PID:
headSerialReply(3 * PID_ITEM_COUNT);
if (currentProfile->pidProfile.pidController == 2) { // convert float stuff into uint8_t to keep backwards compatability with all 8-bit shit with new pid
if (IS_PID_CONTROLLER_FP_BASED(currentProfile->pidProfile.pidController)) { // convert float stuff into uint8_t to keep backwards compatability with all 8-bit shit with new pid
for (i = 0; i < 3; i++) {
serialize8(constrain(lrintf(currentProfile->pidProfile.P_f[i] * 10.0f), 0, 250));
serialize8(constrain(lrintf(currentProfile->pidProfile.I_f[i] * 100.0f), 0, 250));
@ -1209,7 +1209,7 @@ static bool processInCommand(void)
setPIDController(currentProfile->pidProfile.pidController);
break;
case MSP_SET_PID:
if (currentProfile->pidProfile.pidController == 2) {
if (IS_PID_CONTROLLER_FP_BASED(currentProfile->pidProfile.pidController)) {
for (i = 0; i < 3; i++) {
currentProfile->pidProfile.P_f[i] = (float)read8() / 10.0f;
currentProfile->pidProfile.I_f[i] = (float)read8() / 100.0f;