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Balance: configurable speed/angle for each tiltback type 

Signed-off-by: Dado Mista <dadomista@gmail.com>
This commit is contained in:
Dado Mista 2021-07-29 17:09:31 -07:00
parent 5ad0c88944
commit f46880d037
2 changed files with 40 additions and 17 deletions
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51
applications/app_balance.c
View File

@ -56,7 +56,10 @@ typedef enum {
typedef enum {
CENTERING = 0,
TILTBACK
TILTBACK_DUTY,
TILTBACK_HV,
TILTBACK_LV,
TILTBACK_NONE
} SetpointAdjustmentType;
typedef enum {
@ -85,8 +88,10 @@ static thread_t *app_thread;
static volatile balance_config balance_conf;
static volatile imu_config imu_conf;
static systime_t loop_time;
static float startup_step_size, tiltback_step_size, torquetilt_on_step_size, torquetilt_off_step_size, turntilt_step_size;
static float tiltback_variable, tiltback_variable_max_erpm;
static float startup_step_size;
static float tiltback_duty_step_size, tiltback_hv_step_size, tiltback_lv_step_size, tiltback_return_step_size;
static float torquetilt_on_step_size, torquetilt_off_step_size, turntilt_step_size;
static float tiltback_variable, tiltback_variable_max_erpm, noseangling_step_size;
// Runtime values read from elsewhere
static float pitch_angle, last_pitch_angle, roll_angle, abs_roll_angle, abs_roll_angle_sin;
@ -171,10 +176,14 @@ void app_balance_configure(balance_config *conf, imu_config *conf2) {
motor_timeout = ((1000.0 / balance_conf.hertz)/1000.0) * 20; // Times 20 for a nice long grace period
startup_step_size = balance_conf.startup_speed / balance_conf.hertz;
tiltback_step_size = balance_conf.tiltback_speed / balance_conf.hertz;
tiltback_duty_step_size = balance_conf.tiltback_speed / balance_conf.hertz;
tiltback_hv_step_size = balance_conf.tiltback_hv_speed / balance_conf.hertz;
tiltback_lv_step_size = balance_conf.tiltback_lv_speed / balance_conf.hertz;
tiltback_return_step_size = balance_conf.tiltback_return_speed / balance_conf.hertz;
torquetilt_on_step_size = balance_conf.torquetilt_on_speed / balance_conf.hertz;
torquetilt_off_step_size = balance_conf.torquetilt_off_speed / balance_conf.hertz;
turntilt_step_size = balance_conf.turntilt_speed / balance_conf.hertz;
noseangling_step_size = balance_conf.noseangling_speed / balance_conf.hertz;
// Init Filters
if(balance_conf.loop_time_filter > 0){
@ -314,8 +323,16 @@ static float get_setpoint_adjustment_step_size(void){
switch(setpointAdjustmentType){
case (CENTERING):
return startup_step_size;
case (TILTBACK):
return tiltback_step_size;
case (TILTBACK_DUTY):
return tiltback_duty_step_size;
case (TILTBACK_HV):
return tiltback_hv_step_size;
case (TILTBACK_LV):
return tiltback_lv_step_size;
case (TILTBACK_NONE):
return tiltback_return_step_size;
default:
;
}
return 0;
}
@ -386,26 +403,26 @@ static void calculate_setpoint_target(void){
} else {
setpoint_target = -balance_conf.tiltback_angle;
}
setpointAdjustmentType = TILTBACK;
setpointAdjustmentType = TILTBACK_DUTY;
state = RUNNING_TILTBACK_DUTY;
}else if(abs_duty_cycle > 0.05 && GET_INPUT_VOLTAGE() > balance_conf.tiltback_high_voltage){
if(erpm > 0){
setpoint_target = balance_conf.tiltback_angle;
setpoint_target = balance_conf.tiltback_hv_angle;
} else {
setpoint_target = -balance_conf.tiltback_angle;
setpoint_target = -balance_conf.tiltback_hv_angle;
}
setpointAdjustmentType = TILTBACK;
setpointAdjustmentType = TILTBACK_HV;
state = RUNNING_TILTBACK_HIGH_VOLTAGE;
}else if(abs_duty_cycle > 0.05 && GET_INPUT_VOLTAGE() < balance_conf.tiltback_low_voltage){
if(erpm > 0){
setpoint_target = balance_conf.tiltback_angle;
setpoint_target = balance_conf.tiltback_lv_angle;
} else {
setpoint_target = -balance_conf.tiltback_angle;
setpoint_target = -balance_conf.tiltback_lv_angle;
}
setpointAdjustmentType = TILTBACK;
setpointAdjustmentType = TILTBACK_LV;
state = RUNNING_TILTBACK_LOW_VOLTAGE;
}else{
setpointAdjustmentType = TILTBACK;
setpointAdjustmentType = TILTBACK_NONE;
setpoint_target = 0;
state = RUNNING;
}
@ -439,12 +456,12 @@ static void apply_noseangling(void){
noseangling_target += -balance_conf.tiltback_constant;
}
if(fabsf(noseangling_target - noseangling_interpolated) < tiltback_step_size){
if(fabsf(noseangling_target - noseangling_interpolated) < noseangling_step_size){
noseangling_interpolated = noseangling_target;
}else if (noseangling_target - noseangling_interpolated > 0){
noseangling_interpolated += tiltback_step_size;
noseangling_interpolated += noseangling_step_size;
}else{
noseangling_interpolated -= tiltback_step_size;
noseangling_interpolated -= noseangling_step_size;
}
setpoint += noseangling_interpolated;
}

6
datatypes.h
View File

@ -716,12 +716,18 @@ typedef struct {
float tiltback_angle;
float tiltback_speed;
float tiltback_duty;
float tiltback_hv_angle;
float tiltback_hv_speed;
float tiltback_high_voltage;
float tiltback_lv_angle;
float tiltback_lv_speed;
float tiltback_low_voltage;
float tiltback_return_speed;
float tiltback_constant;
uint16_t tiltback_constant_erpm;
float tiltback_variable;
float tiltback_variable_max;
float noseangling_speed;
float startup_pitch_tolerance;
float startup_roll_tolerance;
float startup_speed;