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Code Issues Releases Activity

OP-1474 Use PID banks for the TPS settings

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This commit is contained in:
Stefan Karlsson 2014-09-18 22:36:53 +02:00
parent bdbe875a90
commit d3e7ef300f
5 changed files with 31 additions and 11 deletions
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20
flight/modules/Stabilization/innerloop.c
View File

@ -101,14 +101,14 @@ static float get_pid_scale_source_value()
{
float value;
switch (stabSettings.settings.ThrustPIDScaleSource) {
case STABILIZATIONSETTINGS_THRUSTPIDSCALESOURCE_MANUALCONTROLTHROTTLE:
switch (stabSettings.stabBank.ThrustPIDScaleSource) {
case STABILIZATIONBANK_THRUSTPIDSCALESOURCE_MANUALCONTROLTHROTTLE:
ManualControlCommandThrottleGet(&value);
break;
case STABILIZATIONSETTINGS_THRUSTPIDSCALESOURCE_STABILIZATIONDESIREDTHRUST:
case STABILIZATIONBANK_THRUSTPIDSCALESOURCE_STABILIZATIONDESIREDTHRUST:
StabilizationDesiredThrustGet(&value);
break;
case STABILIZATIONSETTINGS_THRUSTPIDSCALESOURCE_ACTUATORDESIREDTHRUST:
case STABILIZATIONBANK_THRUSTPIDSCALESOURCE_ACTUATORDESIREDTHRUST:
ActuatorDesiredThrustGet(&value);
break;
default:
@ -128,11 +128,11 @@ static float get_pid_scale_factor()
struct pid_scaler scaler = {
.x = get_pid_scale_source_value(),
.points = {
{ 0.0f, stabSettings.settings.ThrustPIDScaleCurve[0] },
{ 0.25f, stabSettings.settings.ThrustPIDScaleCurve[1] },
{ 0.50f, stabSettings.settings.ThrustPIDScaleCurve[2] },
{ 0.75f, stabSettings.settings.ThrustPIDScaleCurve[3] },
{ 1.0f, stabSettings.settings.ThrustPIDScaleCurve[4] }
{ 0.0f, stabSettings.stabBank.ThrustPIDScaleCurve[0] },
{ 0.25f, stabSettings.stabBank.ThrustPIDScaleCurve[1] },
{ 0.50f, stabSettings.stabBank.ThrustPIDScaleCurve[2] },
{ 0.75f, stabSettings.stabBank.ThrustPIDScaleCurve[3] },
{ 1.0f, stabSettings.stabBank.ThrustPIDScaleCurve[4] }
}
};
@ -141,7 +141,7 @@ static float get_pid_scale_factor()
static int is_pid_scaled_for_axis(int axis)
{
return stabSettings.settings.EnableThrustPIDScaling
return stabSettings.stabBank.EnableThrustPIDScaling
&& (axis == 0 // Roll
|| axis == 1); // Pitch
}

5
shared/uavobjectdefinition/stabilizationbank.xml
View File

@ -14,6 +14,11 @@
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit"/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>

5
shared/uavobjectdefinition/stabilizationsettingsbank1.xml
View File

@ -14,6 +14,11 @@
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

5
shared/uavobjectdefinition/stabilizationsettingsbank2.xml
View File

@ -14,6 +14,11 @@
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

7
shared/uavobjectdefinition/stabilizationsettingsbank3.xml
View File

@ -8,12 +8,17 @@
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="220,220,220" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>