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Code Issues Releases Activity

LP-124 - Rename Pitch/RollRatePid to EasyTuneRatePitch/Roll, UAVO and firmware fixes

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This commit is contained in:
a*morale 2015-09-19 15:03:17 +02:00
parent b6515a2117
commit 68ecefa0fd
2 changed files with 14 additions and 14 deletions
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20
flight/modules/TxPID/txpid.c
View File

@ -256,17 +256,17 @@ static void updatePIDs(UAVObjEvent *ev)
case TXPIDSETTINGS_PIDS_ROLLRATEKP:
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEPID:
case TXPIDSETTINGS_PIDS_EASYTUNERATEROLL:
easyTuneEnabled = true;
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
needsUpdateBank |= update(&bank.RollRatePID.Ki, value * inst.PitchRollRateFactors.I);
needsUpdateBank |= update(&bank.RollRatePID.Kd, value * inst.PitchRollRateFactors.D);
needsUpdateBank |= update(&bank.RollRatePID.Ki, value * inst.EasyTunePitchRollRateFactors.I);
needsUpdateBank |= update(&bank.RollRatePID.Kd, value * inst.EasyTunePitchRollRateFactors.D);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEPID:
case TXPIDSETTINGS_PIDS_EASYTUNERATEPITCH:
easyTuneEnabled = true;
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value * inst.PitchRollRateFactors.I);
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value * inst.PitchRollRateFactors.D);
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value * inst.EasyTunePitchRollRateFactors.I);
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value * inst.EasyTunePitchRollRateFactors.D);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEKI:
needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
@ -451,11 +451,11 @@ static void updatePIDs(UAVObjEvent *ev)
AltitudeHoldSettingsSet(&altitude);
}
#endif
if (easyTuneEnabled && (inst.RatePIDRecalculateYaw != TXPIDSETTINGS_RATEPIDRECALCULATEYAW_FALSE)) {
float newKp = (bank.RollRatePID.Kp + bank.PitchRatePID.Kp) * .5f * inst.YawRateFactors.P;
if (easyTuneEnabled && (inst.EasyTuneRatePIDRecalculateYaw != TXPIDSETTINGS_EASYTUNERATEPIDRECALCULATEYAW_FALSE)) {
float newKp = (bank.RollRatePID.Kp + bank.PitchRatePID.Kp) * .5f * inst.EasyTuneYawRateFactors.P;
needsUpdateBank |= update(&bank.YawRatePID.Kp, newKp);
needsUpdateBank |= update(&bank.YawRatePID.Ki, newKp * inst.YawRateFactors.I);
needsUpdateBank |= update(&bank.YawRatePID.Kd, newKp * inst.YawRateFactors.D);
needsUpdateBank |= update(&bank.YawRatePID.Ki, newKp * inst.EasyTuneYawRateFactors.I);
needsUpdateBank |= update(&bank.YawRatePID.Kd, newKp * inst.EasyTuneYawRateFactors.D);
}
if (needsUpdateBank) {
switch (inst.BankNumber) {

8
shared/uavobjectdefinition/txpidsettings.xml
View File

@ -11,7 +11,7 @@
<field name="PIDs" units="option" type="enum"
elementnames="Instance1,Instance2,Instance3"
options="Disabled,
PitchRatePID,RollRatePID,
EasyTuneRatePitch,EasyTuneRateRoll,
Roll Rate.Kp, Roll Rate.Ki, Roll Rate.Kd, Roll Rate.ILimit, Roll Rate.Resp,
Pitch Rate.Kp, Pitch Rate.Ki, Pitch Rate.Kd, Pitch Rate.ILimit, Pitch Rate.Resp,
Roll+Pitch Rate.Kp, Roll+Pitch Rate.Ki, Roll+Pitch Rate.Kd, Roll+Pitch Rate.ILimit, Roll+Pitch Rate.Resp,
@ -28,9 +28,9 @@
<field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
<field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
<field name="PitchRollRateFactors" units="" type="float" elementnames="I,D" defaultvalue="3,0.0135"/>
<field name="YawRateFactors" units="" type="float" elementnames="P,I,D" defaultvalue="1.5,1.9,0.0085"/>
<field name="RatePIDRecalculateYaw" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="EasyTunePitchRollRateFactors" units="" type="float" elementnames="I,D" defaultvalue="3,0.0135"/>
<field name="EasyTuneYawRateFactors" units="" type="float" elementnames="P,I,D" defaultvalue="1.5,1.9,0.0085"/>
<field name="EasyTuneRatePIDRecalculateYaw" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>