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Merge pull request #9597 from etracer65/iterm_windup_yaw_only 

Change iterm_windup to only apply to yaw
This commit is contained in:
Michael Keller 2020-03-17 22:05:02 +13:00 committed by GitHub
parent 8e39bf4138 e76fd50421
commit ed6175b22c
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 23 additions and 15 deletions
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18
src/main/flight/pid.c
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@ -1452,13 +1452,21 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
}
// -----calculate I component
float Ki;
float axisDynCi;
#ifdef USE_LAUNCH_CONTROL
// if launch control is active override the iterm gains
const float Ki = launchControlActive ? launchControlKi : pidCoefficient[axis].Ki;
#else
const float Ki = pidCoefficient[axis].Ki;
// if launch control is active override the iterm gains and apply iterm windup protection to all axes
if (launchControlActive) {
Ki = launchControlKi;
axisDynCi = dynCi;
} else
#endif
pidData[axis].I = constrainf(previousIterm + (Ki * dynCi + agGain) * itermErrorRate, -itermLimit, itermLimit);
{
Ki = pidCoefficient[axis].Ki;
axisDynCi = (axis == FD_YAW) ? dynCi : dT; // only apply windup protection to yaw
}
pidData[axis].I = constrainf(previousIterm + (Ki * axisDynCi + agGain) * itermErrorRate, -itermLimit, itermLimit);
// -----calculate pidSetpointDelta
float pidSetpointDelta = 0;

20
src/test/unit/pid_unittest.cc
View File

@ -295,8 +295,8 @@ TEST(pidControllerTest, testPidLoop) {
// Simulate Iterm behaviour during mixer saturation
simulatedMotorMixRange = 1.2f;
pidController(pidProfile, currentTestTime());
EXPECT_NEAR(-23.5, pidData[FD_ROLL].I, calculateTolerance(-23.5));
EXPECT_NEAR(19.6, pidData[FD_PITCH].I, calculateTolerance(19.6));
EXPECT_NEAR(-31.3, pidData[FD_ROLL].I, calculateTolerance(-31.3));
EXPECT_NEAR(29.3, pidData[FD_PITCH].I, calculateTolerance(29.3));
EXPECT_NEAR(-8.8, pidData[FD_YAW].I, calculateTolerance(-8.8));
simulatedMotorMixRange = 0;
@ -312,8 +312,8 @@ TEST(pidControllerTest, testPidLoop) {
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].P);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].P);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].P);
EXPECT_NEAR(-23.5, pidData[FD_ROLL].I, calculateTolerance(-23.5));
EXPECT_NEAR(19.6, pidData[FD_PITCH].I, calculateTolerance(19.6));
EXPECT_NEAR(-31.3, pidData[FD_ROLL].I, calculateTolerance(-31.3));
EXPECT_NEAR(29.3, pidData[FD_PITCH].I, calculateTolerance(29.3));
EXPECT_NEAR(-10.6, pidData[FD_YAW].I, calculateTolerance(-10.6));
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
@ -417,12 +417,12 @@ TEST(pidControllerTest, testMixerSaturation) {
simulatedMotorMixRange = 2.0f;
pidController(pidProfile, currentTestTime());
// Expect no iterm accumulation
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].I);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].I);
// Expect no iterm accumulation for yaw
EXPECT_FLOAT_EQ(150, pidData[FD_ROLL].I);
EXPECT_FLOAT_EQ(-150, pidData[FD_PITCH].I);
EXPECT_FLOAT_EQ(0, pidData[FD_YAW].I);
// Test itermWindup limit
// Test itermWindup limit (note: windup limit now only affects yaw)
// First store values without exceeding iterm windup limit
resetTest();
ENABLE_ARMING_FLAG(ARMED);
@ -445,8 +445,8 @@ TEST(pidControllerTest, testMixerSaturation) {
setStickPosition(FD_YAW, 0.1f);
simulatedMotorMixRange = (pidProfile->itermWindupPointPercent + 1) / 100.0f;
pidController(pidProfile, currentTestTime());
EXPECT_LT(pidData[FD_ROLL].I, rollTestIterm);
EXPECT_GE(pidData[FD_PITCH].I, pitchTestIterm);
EXPECT_FLOAT_EQ(pidData[FD_ROLL].I, rollTestIterm);
EXPECT_FLOAT_EQ(pidData[FD_PITCH].I, pitchTestIterm);
EXPECT_LT(pidData[FD_YAW].I, yawTestIterm);
}