194 lines
8.2 KiB
C
194 lines
8.2 KiB
C
#include <stdbool.h>
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#include <stdint.h>
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#include <math.h>
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#include "common/axis.h"
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#include "common/maths.h"
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#include "runtime_config.h"
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#include "rc_controls.h"
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#include "flight_common.h"
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#include "gps_common.h"
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extern uint16_t cycleTime;
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int16_t heading, magHold;
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int16_t axisPID[3];
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uint8_t dynP8[3], dynI8[3], dynD8[3];
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static int32_t errorGyroI[3] = { 0, 0, 0 };
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static int32_t errorAngleI[2] = { 0, 0 };
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static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
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uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim);
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typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
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uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim); // pid controller function prototype
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pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are we using, defaultMultiWii
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void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
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{
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rollAndPitchTrims->trims.roll = 0;
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rollAndPitchTrims->trims.pitch = 0;
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}
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void resetErrorAngle(void)
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{
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errorAngleI[ROLL] = 0;
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errorAngleI[PITCH] = 0;
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}
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void resetErrorGyro(void)
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{
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errorGyroI[ROLL] = 0;
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errorGyroI[PITCH] = 0;
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errorGyroI[YAW] = 0;
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}
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static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
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uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim)
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{
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int axis, prop;
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int32_t error, errorAngle;
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int32_t PTerm, ITerm, PTermACC = 0, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
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static int16_t lastGyro[3] = { 0, 0, 0 };
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static int32_t delta1[3], delta2[3];
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int32_t deltaSum;
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int32_t delta;
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// **** PITCH & ROLL & YAW PID ****
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prop = max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])); // range [0;500]
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for (axis = 0; axis < 3; axis++) {
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if ((f.ANGLE_MODE || f.HORIZON_MODE) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC
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// 50 degrees max inclination
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errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.rawAngles[axis] + angleTrim->raw[axis];
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PTermACC = errorAngle * pidProfile->P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
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PTermACC = constrain(PTermACC, -pidProfile->D8[PIDLEVEL] * 5, +pidProfile->D8[PIDLEVEL] * 5);
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errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp
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ITermACC = (errorAngleI[axis] * pidProfile->I8[PIDLEVEL]) >> 12;
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}
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if (!f.ANGLE_MODE || f.HORIZON_MODE || axis == FD_YAW) { // MODE relying on GYRO or YAW axis
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error = (int32_t) rcCommand[axis] * 10 * 8 / pidProfile->P8[axis];
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error -= gyroData[axis];
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PTermGYRO = rcCommand[axis];
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errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
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if (abs(gyroData[axis]) > 640)
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errorGyroI[axis] = 0;
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ITermGYRO = (errorGyroI[axis] / 125 * pidProfile->I8[axis]) >> 6;
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}
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if (f.HORIZON_MODE && (axis == FD_ROLL || axis == FD_PITCH)) {
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PTerm = (PTermACC * (500 - prop) + PTermGYRO * prop) / 500;
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ITerm = (ITermACC * (500 - prop) + ITermGYRO * prop) / 500;
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} else {
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if (f.ANGLE_MODE && (axis == FD_ROLL || axis == FD_PITCH)) {
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PTerm = PTermACC;
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ITerm = ITermACC;
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} else {
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PTerm = PTermGYRO;
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ITerm = ITermGYRO;
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}
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}
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PTerm -= (int32_t) gyroData[axis] * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
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delta = gyroData[axis] - lastGyro[axis];
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lastGyro[axis] = gyroData[axis];
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deltaSum = delta1[axis] + delta2[axis] + delta;
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delta2[axis] = delta1[axis];
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delta1[axis] = delta;
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DTerm = (deltaSum * dynD8[axis]) / 32;
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axisPID[axis] = PTerm + ITerm - DTerm;
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}
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}
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#define GYRO_I_MAX 256
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static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
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rollAndPitchTrims_t *angleTrim)
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{
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int32_t errorAngle;
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int axis;
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int32_t delta, deltaSum;
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static int32_t delta1[3], delta2[3];
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int32_t PTerm, ITerm, DTerm;
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static int32_t lastError[3] = { 0, 0, 0 };
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int32_t AngleRateTmp, RateError;
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// ----------PID controller----------
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for (axis = 0; axis < 3; axis++) {
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// -----Get the desired angle rate depending on flight mode
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if (axis == FD_YAW) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
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AngleRateTmp = (((int32_t)(controlRateConfig->yawRate + 27) * rcCommand[2]) >> 5);
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} else {
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// calculate error and limit the angle to max configured inclination
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errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.rawAngles[axis] + angleTrim->raw[axis]; // 16 bits is ok here
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if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
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AngleRateTmp = ((int32_t)(controlRateConfig->rollPitchRate + 27) * rcCommand[axis]) >> 4;
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if (f.HORIZON_MODE) {
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// mix up angle error to desired AngleRateTmp to add a little auto-level feel
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AngleRateTmp += (errorAngle * pidProfile->I8[PIDLEVEL]) >> 8;
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}
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} else { // it's the ANGLE mode - control is angle based, so control loop is needed
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AngleRateTmp = (errorAngle * pidProfile->P8[PIDLEVEL]) >> 4;
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}
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}
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// --------low-level gyro-based PID. ----------
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// Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
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// -----calculate scaled error.AngleRates
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// multiplication of rcCommand corresponds to changing the sticks scaling here
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RateError = AngleRateTmp - gyroData[axis];
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// -----calculate P component
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PTerm = (RateError * pidProfile->P8[axis]) >> 7;
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// -----calculate I component
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// there should be no division before accumulating the error to integrator, because the precision would be reduced.
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// Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.
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// Time correction (to avoid different I scaling for different builds based on average cycle time)
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// is normalized to cycle time = 2048.
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errorGyroI[axis] = errorGyroI[axis] + ((RateError * cycleTime) >> 11) * pidProfile->I8[axis];
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// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
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// I coefficient (I8) moved before integration to make limiting independent from PID settings
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errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
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ITerm = errorGyroI[axis] >> 13;
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//-----calculate D-term
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delta = RateError - lastError[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
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lastError[axis] = RateError;
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// Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
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// would be scaled by different dt each time. Division by dT fixes that.
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delta = (delta * ((uint16_t) 0xFFFF / (cycleTime >> 4))) >> 6;
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// add moving average here to reduce noise
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deltaSum = delta1[axis] + delta2[axis] + delta;
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delta2[axis] = delta1[axis];
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delta1[axis] = delta;
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DTerm = (deltaSum * pidProfile->D8[axis]) >> 8;
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// -----calculate total PID output
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axisPID[axis] = PTerm + ITerm + DTerm;
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}
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}
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void setPIDController(int type)
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{
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switch (type) {
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case 0:
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default:
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pid_controller = pidMultiWii;
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break;
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case 1:
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pid_controller = pidRewrite;
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break;
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}
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}
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