783 lines
32 KiB
C
783 lines
32 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <math.h>
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#include <platform.h>
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#include "build_config.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "drivers/sensor.h"
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#include "drivers/accgyro.h"
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#include "sensors/sensors.h"
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#include "sensors/gyro.h"
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#include "sensors/acceleration.h"
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#include "rx/rx.h"
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#include "io/rc_controls.h"
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#include "io/gps.h"
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#include "flight/pid.h"
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#include "flight/imu.h"
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#include "flight/navigation.h"
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#include "flight/autotune.h"
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#include "config/runtime_config.h"
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extern uint16_t cycleTime;
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extern uint8_t motorCount;
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int16_t heading;
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int16_t axisPID[3];
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#ifdef BLACKBOX
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int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
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#endif
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// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
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uint8_t dynP8[3], dynI8[3], dynD8[3], PIDweight[3];
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static int32_t errorGyroI[3] = { 0, 0, 0 };
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static float errorGyroIf[3] = { 0.0f, 0.0f, 0.0f };
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static int32_t errorAngleI[2] = { 0, 0 };
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static float errorAngleIf[2] = { 0.0f, 0.0f };
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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, rxConfig_t *rxConfig);
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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, rxConfig_t *rxConfig); // pid controller function prototype
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pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are we using, defaultMultiWii
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void pidResetErrorAngle(void)
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{
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errorAngleI[ROLL] = 0;
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errorAngleI[PITCH] = 0;
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errorAngleIf[ROLL] = 0.0f;
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errorAngleIf[PITCH] = 0.0f;
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}
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void pidResetErrorGyro(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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errorGyroIf[ROLL] = 0.0f;
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errorGyroIf[PITCH] = 0.0f;
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errorGyroIf[YAW] = 0.0f;
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}
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const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
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#ifdef AUTOTUNE
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bool shouldAutotune(void)
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{
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return ARMING_FLAG(ARMED) && FLIGHT_MODE(AUTOTUNE_MODE);
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}
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#endif
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static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
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uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
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{
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float RateError, errorAngle, AngleRate, gyroRate;
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float ITerm,PTerm,DTerm;
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int32_t stickPosAil, stickPosEle, mostDeflectedPos;
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static float lastGyroRate[3];
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static float delta1[3], delta2[3];
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float delta, deltaSum;
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float dT;
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int axis;
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float horizonLevelStrength = 1;
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dT = (float)cycleTime * 0.000001f;
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if (FLIGHT_MODE(HORIZON_MODE)) {
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// Figure out the raw stick positions
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stickPosAil = getRcStickDeflection(FD_ROLL, rxConfig->midrc);
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stickPosEle = getRcStickDeflection(FD_PITCH, rxConfig->midrc);
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if(ABS(stickPosAil) > ABS(stickPosEle)){
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mostDeflectedPos = ABS(stickPosAil);
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}
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else {
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mostDeflectedPos = ABS(stickPosEle);
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}
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// Progressively turn off the horizon self level strength as the stick is banged over
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horizonLevelStrength = (float)(500 - mostDeflectedPos) / 500; // 1 at centre stick, 0 = max stick deflection
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if(pidProfile->H_sensitivity == 0){
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horizonLevelStrength = 0;
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} else {
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horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (100 / pidProfile->H_sensitivity)) + 1, 0, 1);
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}
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}
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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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uint8_t rate = controlRateConfig->rates[axis];
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if (axis == FD_YAW) {
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// YAW is always gyro-controlled (MAG correction is applied to rcCommand) 100dps to 1100dps max yaw rate
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AngleRate = (float)((rate + 10) * rcCommand[YAW]) / 50.0f;
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} else {
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// calculate error and limit the angle to the max inclination
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#ifdef GPS
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errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
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#else
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errorAngle = (constrain(rcCommand[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
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#endif
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#ifdef AUTOTUNE
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if (shouldAutotune()) {
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errorAngle = autotune(rcAliasToAngleIndexMap[axis], &inclination, errorAngle);
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}
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#endif
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if (FLIGHT_MODE(ANGLE_MODE)) {
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// it's the ANGLE mode - control is angle based, so control loop is needed
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AngleRate = errorAngle * pidProfile->A_level;
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} else {
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//control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
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AngleRate = (float)((rate + 20) * rcCommand[axis]) / 50.0f; // 200dps to 1200dps max yaw rate
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if (FLIGHT_MODE(HORIZON_MODE)) {
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// mix up angle error to desired AngleRate to add a little auto-level feel
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AngleRate += errorAngle * pidProfile->H_level * horizonLevelStrength;
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}
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}
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}
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gyroRate = gyroADC[axis] * gyro.scale; // gyro output scaled to dps
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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 = AngleRate - gyroRate;
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// -----calculate P component
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PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100;
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// -----calculate I component. Note that PIDweight is divided by 10, because it is simplified formule from the previous multiply by 10
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errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * PIDweight[axis] / 10, -250.0f, 250.0f);
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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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ITerm = errorGyroIf[axis];
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//-----calculate D-term
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delta = gyroRate - lastGyroRate[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
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lastGyroRate[axis] = gyroRate;
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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 *= (1.0f / dT);
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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 = constrainf((deltaSum / 3.0f) * pidProfile->D_f[axis] * PIDweight[axis] / 100, -300.0f, 300.0f);
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// -----calculate total PID output
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axisPID[axis] = constrain(lrintf(PTerm + ITerm - DTerm), -1000, 1000);
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#ifdef BLACKBOX
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axisPID_P[axis] = PTerm;
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axisPID_I[axis] = ITerm;
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axisPID_D[axis] = -DTerm;
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#endif
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}
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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, rxConfig_t *rxConfig)
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{
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UNUSED(rxConfig);
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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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UNUSED(controlRateConfig);
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// **** PITCH & ROLL & YAW PID ****
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prop = MIN(MAX(ABS(rcCommand[PITCH]), ABS(rcCommand[ROLL])), 500); // range [0;500]
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for (axis = 0; axis < 3; axis++) {
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if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC
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// observe max inclination
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#ifdef GPS
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errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
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#else
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errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
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#endif
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#ifdef AUTOTUNE
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if (shouldAutotune()) {
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errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
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}
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#endif
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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 (!FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(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 -= gyroADC[axis] / 4;
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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(gyroADC[axis]) > (640 * 4)) || (axis == FD_YAW && ABS(rcCommand[axis]) > 100))
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errorGyroI[axis] = 0;
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ITermGYRO = (errorGyroI[axis] / 125 * pidProfile->I8[axis]) / 64;
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}
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if (FLIGHT_MODE(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 (FLIGHT_MODE(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)gyroADC[axis] / 4) * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
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delta = (gyroADC[axis] - lastGyro[axis]) / 4;
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lastGyro[axis] = gyroADC[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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#ifdef BLACKBOX
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axisPID_P[axis] = PTerm;
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axisPID_I[axis] = ITerm;
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axisPID_D[axis] = -DTerm;
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#endif
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}
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}
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static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
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rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
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{
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UNUSED(rxConfig);
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int axis, prop = 0;
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int32_t rc, error, errorAngle;
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int32_t PTerm, ITerm, PTermACC, ITermACC, DTerm;
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static int16_t lastGyro[2] = { 0, 0 };
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static int32_t delta1[2] = { 0, 0 }, delta2[2] = { 0, 0 };
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int32_t delta;
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if (FLIGHT_MODE(HORIZON_MODE)) {
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prop = MIN(MAX(ABS(rcCommand[PITCH]), ABS(rcCommand[ROLL])), 512);
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}
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// PITCH & ROLL
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for (axis = 0; axis < 2; axis++) {
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rc = rcCommand[axis] << 1;
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error = rc - (gyroADC[axis] / 4);
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errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp 16 bits is ok here
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if (ABS(gyroADC[axis]) > (640 * 4)) {
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errorGyroI[axis] = 0;
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}
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ITerm = (errorGyroI[axis] >> 7) * pidProfile->I8[axis] >> 6; // 16 bits is ok here 16000/125 = 128 ; 128*250 = 32000
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PTerm = (int32_t)rc * pidProfile->P8[axis] >> 6;
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if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) { // axis relying on ACC
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// 50 degrees max inclination
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#ifdef GPS
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errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
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#else
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errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
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+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
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#endif
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#ifdef AUTOTUNE
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if (shouldAutotune()) {
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errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
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}
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#endif
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errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp //16 bits is ok here
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PTermACC = ((int32_t)errorAngle * pidProfile->P8[PIDLEVEL]) >> 7; // 32 bits is needed for calculation: errorAngle*P8 could exceed 32768 16 bits is ok for result
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int16_t limit = pidProfile->D8[PIDLEVEL] * 5;
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PTermACC = constrain(PTermACC, -limit, +limit);
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ITermACC = ((int32_t)errorAngleI[axis] * pidProfile->I8[PIDLEVEL]) >> 12; // 32 bits is needed for calculation:10000*I8 could exceed 32768 16 bits is ok for result
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ITerm = ITermACC + ((ITerm - ITermACC) * prop >> 9);
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PTerm = PTermACC + ((PTerm - PTermACC) * prop >> 9);
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}
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PTerm -= ((int32_t)(gyroADC[axis] / 4) * dynP8[axis]) >> 6; // 32 bits is needed for calculation
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delta = (gyroADC[axis] - lastGyro[axis]) / 4; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
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lastGyro[axis] = gyroADC[axis];
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DTerm = 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 = ((int32_t)DTerm * dynD8[axis]) >> 5; // 32 bits is needed for calculation
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axisPID[axis] = PTerm + ITerm - DTerm;
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#ifdef BLACKBOX
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axisPID_P[axis] = PTerm;
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axisPID_I[axis] = ITerm;
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axisPID_D[axis] = -DTerm;
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#endif
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}
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//YAW
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rc = (int32_t)rcCommand[FD_YAW] * (2 * controlRateConfig->rates[FD_YAW] + 30) >> 5;
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#ifdef ALIENWII32
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error = rc - gyroADC[FD_YAW];
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#else
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error = rc - (gyroADC[FD_YAW] / 4);
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#endif
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errorGyroI[FD_YAW] += (int32_t)error * pidProfile->I8[FD_YAW];
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errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW], 2 - ((int32_t)1 << 28), -2 + ((int32_t)1 << 28));
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if (ABS(rc) > 50) errorGyroI[FD_YAW] = 0;
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PTerm = (int32_t)error * pidProfile->P8[FD_YAW] >> 6; // TODO: Bitwise shift on a signed integer is not recommended
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// Constrain YAW by D value if not servo driven in that case servolimits apply
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if(motorCount >= 4 && pidProfile->yaw_p_limit < YAW_P_LIMIT_MAX) {
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PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
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}
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ITerm = constrain((int16_t)(errorGyroI[FD_YAW] >> 13), -GYRO_I_MAX, +GYRO_I_MAX);
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axisPID[FD_YAW] = PTerm + ITerm;
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#ifdef BLACKBOX
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axisPID_P[FD_YAW] = PTerm;
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axisPID_I[FD_YAW] = ITerm;
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axisPID_D[FD_YAW] = 0;
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#endif
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}
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static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
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uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
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{
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UNUSED(rxConfig);
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int axis, prop;
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int32_t rc, 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[2] = { 0, 0 };
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static int32_t delta1[2] = { 0, 0 }, delta2[2] = { 0, 0 };
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int32_t deltaSum;
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int32_t delta;
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UNUSED(controlRateConfig);
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// **** PITCH & ROLL ****
|
|
prop = MIN(MAX(ABS(rcCommand[PITCH]), ABS(rcCommand[ROLL])), 500); // range [0;500]
|
|
|
|
for (axis = 0; axis < 2; axis++) {
|
|
if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) { // MODE relying on ACC
|
|
// observe max inclination
|
|
#ifdef GPS
|
|
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
|
|
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
|
|
#else
|
|
errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
|
|
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
|
|
#endif
|
|
|
|
#ifdef AUTOTUNE
|
|
if (shouldAutotune()) {
|
|
errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
|
|
}
|
|
#endif
|
|
|
|
PTermACC = errorAngle * pidProfile->P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
|
|
PTermACC = constrain(PTermACC, -pidProfile->D8[PIDLEVEL] * 5, +pidProfile->D8[PIDLEVEL] * 5);
|
|
|
|
errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp
|
|
ITermACC = (errorAngleI[axis] * pidProfile->I8[PIDLEVEL]) >> 12;
|
|
}
|
|
if (!FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) { // MODE relying on GYRO
|
|
error = (int32_t) rcCommand[axis] * 10 * 8 / pidProfile->P8[axis];
|
|
error -= gyroADC[axis] / 4;
|
|
|
|
PTermGYRO = rcCommand[axis];
|
|
|
|
errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
|
|
if (ABS(gyroADC[axis]) > (640 * 4))
|
|
errorGyroI[axis] = 0;
|
|
|
|
ITermGYRO = (errorGyroI[axis] / 125 * pidProfile->I8[axis]) / 64;
|
|
}
|
|
if (FLIGHT_MODE(HORIZON_MODE)) {
|
|
PTerm = (PTermACC * (500 - prop) + PTermGYRO * prop) / 500;
|
|
ITerm = (ITermACC * (500 - prop) + ITermGYRO * prop) / 500;
|
|
} else {
|
|
if (FLIGHT_MODE(ANGLE_MODE)) {
|
|
PTerm = PTermACC;
|
|
ITerm = ITermACC;
|
|
} else {
|
|
PTerm = PTermGYRO;
|
|
ITerm = ITermGYRO;
|
|
}
|
|
}
|
|
|
|
PTerm -= ((int32_t)gyroADC[axis] / 4) * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
|
|
delta = (gyroADC[axis] - lastGyro[axis]) / 4;
|
|
lastGyro[axis] = gyroADC[axis];
|
|
deltaSum = delta1[axis] + delta2[axis] + delta;
|
|
delta2[axis] = delta1[axis];
|
|
delta1[axis] = delta;
|
|
DTerm = (deltaSum * dynD8[axis]) / 32;
|
|
axisPID[axis] = PTerm + ITerm - DTerm;
|
|
|
|
#ifdef BLACKBOX
|
|
axisPID_P[axis] = PTerm;
|
|
axisPID_I[axis] = ITerm;
|
|
axisPID_D[axis] = -DTerm;
|
|
#endif
|
|
}
|
|
//YAW
|
|
rc = (int32_t)rcCommand[FD_YAW] * (2 * controlRateConfig->rates[FD_YAW] + 30) >> 5;
|
|
#ifdef ALIENWII32
|
|
error = rc - gyroADC[FD_YAW];
|
|
#else
|
|
error = rc - (gyroADC[FD_YAW] / 4);
|
|
#endif
|
|
errorGyroI[FD_YAW] += (int32_t)error * pidProfile->I8[FD_YAW];
|
|
errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW], 2 - ((int32_t)1 << 28), -2 + ((int32_t)1 << 28));
|
|
if (ABS(rc) > 50) errorGyroI[FD_YAW] = 0;
|
|
|
|
PTerm = (int32_t)error * pidProfile->P8[FD_YAW] >> 6;
|
|
|
|
// Constrain YAW by D value if not servo driven in that case servolimits apply
|
|
if(motorCount >= 4 && pidProfile->yaw_p_limit < YAW_P_LIMIT_MAX) {
|
|
PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
|
|
}
|
|
|
|
ITerm = constrain((int16_t)(errorGyroI[FD_YAW] >> 13), -GYRO_I_MAX, +GYRO_I_MAX);
|
|
|
|
axisPID[FD_YAW] = PTerm + ITerm;
|
|
|
|
|
|
#ifdef BLACKBOX
|
|
axisPID_P[FD_YAW] = PTerm;
|
|
axisPID_I[FD_YAW] = ITerm;
|
|
axisPID_D[FD_YAW] = 0;
|
|
#endif
|
|
}
|
|
|
|
static void pidHarakiri(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
|
|
rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
|
|
{
|
|
UNUSED(rxConfig);
|
|
|
|
float delta, RCfactor, rcCommandAxis, MainDptCut, gyroADCQuant;
|
|
float PTerm, ITerm, DTerm, PTermACC = 0.0f, ITermACC = 0.0f, ITermGYRO, error, prop = 0.0f;
|
|
static float lastGyro[2] = { 0.0f, 0.0f }, lastDTerm[2] = { 0.0f, 0.0f };
|
|
uint8_t axis;
|
|
float ACCDeltaTimeINS, FLOATcycleTime, Mwii3msTimescale;
|
|
|
|
// MainDptCut = RCconstPI / (float)cfg.maincuthz; // Initialize Cut off frequencies for mainpid D
|
|
MainDptCut = RCconstPI / MAIN_CUT_HZ; // maincuthz (default 12Hz, Range 1-50Hz), hardcoded for now
|
|
FLOATcycleTime = (float)constrain(cycleTime, 1, 100000); // 1us - 100ms
|
|
ACCDeltaTimeINS = FLOATcycleTime * 0.000001f; // ACCDeltaTimeINS is in seconds now
|
|
RCfactor = ACCDeltaTimeINS / (MainDptCut + ACCDeltaTimeINS); // used for pt1 element
|
|
|
|
if (FLIGHT_MODE(HORIZON_MODE)) {
|
|
prop = (float)MIN(MAX(ABS(rcCommand[PITCH]), ABS(rcCommand[ROLL])), 450) / 450.0f;
|
|
}
|
|
|
|
for (axis = 0; axis < 2; axis++) {
|
|
int32_t tmp = (int32_t)((float)gyroADC[axis] * 0.3125f); // Multiwii masks out the last 2 bits, this has the same idea
|
|
gyroADCQuant = (float)tmp * 3.2f; // but delivers more accuracy and also reduces jittery flight
|
|
rcCommandAxis = (float)rcCommand[axis]; // Calculate common values for pid controllers
|
|
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
|
|
#ifdef GPS
|
|
error = constrain(2.0f * rcCommandAxis + GPS_angle[axis], -((int) max_angle_inclination), +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
|
|
#else
|
|
error = constrain(2.0f * rcCommandAxis, -((int) max_angle_inclination), +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
|
|
#endif
|
|
|
|
#ifdef AUTOTUNE
|
|
if (shouldAutotune()) {
|
|
error = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(error)));
|
|
}
|
|
#endif
|
|
PTermACC = error * (float)pidProfile->P8[PIDLEVEL] * 0.008f;
|
|
float limitf = (float)pidProfile->D8[PIDLEVEL] * 5.0f;
|
|
PTermACC = constrain(PTermACC, -limitf, +limitf);
|
|
errorAngleIf[axis] = constrainf(errorAngleIf[axis] + error * ACCDeltaTimeINS, -30.0f, +30.0f);
|
|
ITermACC = errorAngleIf[axis] * (float)pidProfile->I8[PIDLEVEL] * 0.08f;
|
|
}
|
|
|
|
if (!FLIGHT_MODE(ANGLE_MODE)) {
|
|
if (ABS((int16_t)gyroADC[axis]) > 2560) {
|
|
errorGyroIf[axis] = 0.0f;
|
|
} else {
|
|
error = (rcCommandAxis * 320.0f / (float)pidProfile->P8[axis]) - gyroADCQuant;
|
|
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + error * ACCDeltaTimeINS, -192.0f, +192.0f);
|
|
}
|
|
|
|
ITermGYRO = errorGyroIf[axis] * (float)pidProfile->I8[axis] * 0.01f;
|
|
|
|
if (FLIGHT_MODE(HORIZON_MODE)) {
|
|
PTerm = PTermACC + prop * (rcCommandAxis - PTermACC);
|
|
ITerm = ITermACC + prop * (ITermGYRO - ITermACC);
|
|
} else {
|
|
PTerm = rcCommandAxis;
|
|
ITerm = ITermGYRO;
|
|
}
|
|
} else {
|
|
PTerm = PTermACC;
|
|
ITerm = ITermACC;
|
|
}
|
|
|
|
PTerm -= gyroADCQuant * dynP8[axis] * 0.003f;
|
|
delta = (gyroADCQuant - lastGyro[axis]) / ACCDeltaTimeINS;
|
|
|
|
lastGyro[axis] = gyroADCQuant;
|
|
lastDTerm[axis] += RCfactor * (delta - lastDTerm[axis]);
|
|
DTerm = lastDTerm[axis] * dynD8[axis] * 0.00007f;
|
|
|
|
axisPID[axis] = lrintf(PTerm + ITerm - DTerm); // Round up result.
|
|
|
|
#ifdef BLACKBOX
|
|
axisPID_P[axis] = PTerm;
|
|
axisPID_I[axis] = ITerm;
|
|
axisPID_D[axis] = -DTerm;
|
|
#endif
|
|
}
|
|
|
|
Mwii3msTimescale = (int32_t)FLOATcycleTime & (int32_t)~3; // Filter last 2 bit jitter
|
|
Mwii3msTimescale /= 3000.0f;
|
|
|
|
if (OLD_YAW) { // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw. hardcoded for now
|
|
PTerm = ((int32_t)pidProfile->P8[FD_YAW] * (100 - (int32_t)controlRateConfig->rates[FD_YAW] * (int32_t)ABS(rcCommand[FD_YAW]) / 500)) / 100;
|
|
int32_t tmp = lrintf(gyroADC[FD_YAW] * 0.25f);
|
|
PTerm = rcCommand[FD_YAW] - tmp * PTerm / 80;
|
|
if ((ABS(tmp) > 640) || (ABS(rcCommand[FD_YAW]) > 100)) {
|
|
errorGyroI[FD_YAW] = 0;
|
|
} else {
|
|
error = ((int32_t)rcCommand[FD_YAW] * 80 / (int32_t)pidProfile->P8[FD_YAW]) - tmp;
|
|
errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW] + (int32_t)(error * Mwii3msTimescale), -16000, +16000); // WindUp
|
|
ITerm = (errorGyroI[FD_YAW] / 125 * pidProfile->I8[FD_YAW]) >> 6;
|
|
}
|
|
} else {
|
|
int32_t tmp = ((int32_t)rcCommand[FD_YAW] * (((int32_t)controlRateConfig->rates[FD_YAW] << 1) + 40)) >> 5;
|
|
error = tmp - lrintf(gyroADC[FD_YAW] * 0.25f); // Less Gyrojitter works actually better
|
|
|
|
if (ABS(tmp) > 50) {
|
|
errorGyroI[FD_YAW] = 0;
|
|
} else {
|
|
errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW] + (int32_t)(error * (float)pidProfile->I8[FD_YAW] * Mwii3msTimescale), -268435454, +268435454);
|
|
}
|
|
|
|
ITerm = constrain(errorGyroI[FD_YAW] >> 13, -GYRO_I_MAX, +GYRO_I_MAX);
|
|
PTerm = ((int32_t)error * (int32_t)pidProfile->P8[FD_YAW]) >> 6;
|
|
|
|
if(motorCount >= 4 && pidProfile->yaw_p_limit < YAW_P_LIMIT_MAX) { // Constrain FD_YAW by D value if not servo driven in that case servolimits apply
|
|
PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
|
|
}
|
|
}
|
|
axisPID[FD_YAW] = PTerm + ITerm;
|
|
axisPID[FD_YAW] = lrintf(axisPID[FD_YAW]); // Round up result.
|
|
|
|
#ifdef BLACKBOX
|
|
axisPID_P[FD_YAW] = PTerm;
|
|
axisPID_I[FD_YAW] = ITerm;
|
|
axisPID_D[FD_YAW] = 0;
|
|
#endif
|
|
}
|
|
|
|
static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
|
|
rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
|
|
{
|
|
UNUSED(rxConfig);
|
|
|
|
int32_t errorAngle;
|
|
int axis;
|
|
int32_t delta, deltaSum;
|
|
static int32_t delta1[3], delta2[3];
|
|
int32_t PTerm, ITerm, DTerm;
|
|
static int32_t lastError[3] = { 0, 0, 0 };
|
|
int32_t AngleRateTmp, RateError;
|
|
|
|
int8_t horizonLevelStrength = 100;
|
|
int32_t stickPosAil, stickPosEle, mostDeflectedPos;
|
|
|
|
if (FLIGHT_MODE(HORIZON_MODE)) {
|
|
|
|
// Figure out the raw stick positions
|
|
stickPosAil = getRcStickDeflection(FD_ROLL, rxConfig->midrc);
|
|
stickPosEle = getRcStickDeflection(FD_PITCH, rxConfig->midrc);
|
|
|
|
if(ABS(stickPosAil) > ABS(stickPosEle)){
|
|
mostDeflectedPos = ABS(stickPosAil);
|
|
}
|
|
else {
|
|
mostDeflectedPos = ABS(stickPosEle);
|
|
}
|
|
|
|
// Progressively turn off the horizon self level strength as the stick is banged over
|
|
horizonLevelStrength = (500 - mostDeflectedPos) / 5; // 100 at centre stick, 0 = max stick deflection
|
|
|
|
// Using Level D as a Sensitivity for Horizon. 0 more level to 255 more rate. Default value of 100 seems to work fine.
|
|
// For more rate mode increase D and slower flips and rolls will be possible
|
|
horizonLevelStrength = constrain((10 * (horizonLevelStrength - 100) * (10 * pidProfile->D8[PIDLEVEL] / 80) / 100) + 100, 0, 100);
|
|
}
|
|
|
|
// ----------PID controller----------
|
|
for (axis = 0; axis < 3; axis++) {
|
|
uint8_t rate = controlRateConfig->rates[axis];
|
|
|
|
// -----Get the desired angle rate depending on flight mode
|
|
if (axis == FD_YAW) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
|
|
AngleRateTmp = (((int32_t)(rate + 27) * rcCommand[YAW]) >> 5);
|
|
} else {
|
|
// calculate error and limit the angle to max configured inclination
|
|
#ifdef GPS
|
|
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
|
|
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]; // 16 bits is ok here
|
|
#else
|
|
errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
|
|
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]; // 16 bits is ok here
|
|
#endif
|
|
|
|
#ifdef AUTOTUNE
|
|
if (shouldAutotune()) {
|
|
errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
|
|
}
|
|
#endif
|
|
|
|
if (!FLIGHT_MODE(ANGLE_MODE)) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
|
|
AngleRateTmp = ((int32_t)(rate + 27) * rcCommand[axis]) >> 4;
|
|
if (FLIGHT_MODE(HORIZON_MODE)) {
|
|
// mix up angle error to desired AngleRateTmp to add a little auto-level feel. horizonLevelStrength is scaled to the stick input
|
|
AngleRateTmp += (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 100) >> 4;
|
|
}
|
|
} else { // it's the ANGLE mode - control is angle based, so control loop is needed
|
|
AngleRateTmp = (errorAngle * pidProfile->P8[PIDLEVEL]) >> 4;
|
|
}
|
|
}
|
|
|
|
// --------low-level gyro-based PID. ----------
|
|
// Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
|
|
// -----calculate scaled error.AngleRates
|
|
// multiplication of rcCommand corresponds to changing the sticks scaling here
|
|
RateError = AngleRateTmp - (gyroADC[axis] / 4);
|
|
|
|
// -----calculate P component
|
|
PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
|
|
// -----calculate I component
|
|
// there should be no division before accumulating the error to integrator, because the precision would be reduced.
|
|
// Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.
|
|
// Time correction (to avoid different I scaling for different builds based on average cycle time)
|
|
// is normalized to cycle time = 2048.
|
|
errorGyroI[axis] = errorGyroI[axis] + ((RateError * cycleTime) >> 11) * pidProfile->I8[axis] * PIDweight[axis] / 100;
|
|
|
|
// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
|
|
// I coefficient (I8) moved before integration to make limiting independent from PID settings
|
|
errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
|
|
ITerm = errorGyroI[axis] >> 13;
|
|
|
|
//-----calculate D-term
|
|
delta = RateError - lastError[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
|
|
lastError[axis] = RateError;
|
|
|
|
// Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
|
|
// would be scaled by different dt each time. Division by dT fixes that.
|
|
delta = (delta * ((uint16_t) 0xFFFF / (cycleTime >> 4))) >> 6;
|
|
// add moving average here to reduce noise
|
|
deltaSum = delta1[axis] + delta2[axis] + delta;
|
|
delta2[axis] = delta1[axis];
|
|
delta1[axis] = delta;
|
|
DTerm = (deltaSum * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
|
|
|
|
// -----calculate total PID output
|
|
axisPID[axis] = PTerm + ITerm + DTerm;
|
|
|
|
#ifdef BLACKBOX
|
|
axisPID_P[axis] = PTerm;
|
|
axisPID_I[axis] = ITerm;
|
|
axisPID_D[axis] = DTerm;
|
|
#endif
|
|
}
|
|
}
|
|
|
|
void pidSetController(int type)
|
|
{
|
|
switch (type) {
|
|
case 0:
|
|
default:
|
|
pid_controller = pidMultiWii;
|
|
break;
|
|
case 1:
|
|
pid_controller = pidRewrite;
|
|
break;
|
|
case 2:
|
|
pid_controller = pidLuxFloat;
|
|
break;
|
|
case 3:
|
|
pid_controller = pidMultiWii23;
|
|
break;
|
|
case 4:
|
|
pid_controller = pidMultiWiiHybrid;
|
|
break;
|
|
case 5:
|
|
pid_controller = pidHarakiri;
|
|
}
|
|
}
|
|
|