src/main/flight/pid.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include <stdbool.h>
  24 #include "common/time.h"
  25 #include "common/filter.h"
  26 #include "pg/pg.h"
  27
  28 #define MAX_PID_PROCESS_DENOM       16
  29 #define PID_CONTROLLER_BETAFLIGHT   1
  30 #define PID_MIXER_SCALING           1000.0f
  31 #define PID_SERVO_MIXER_SCALING     0.7f
  32 #define PIDSUM_LIMIT                500
  33 #define PIDSUM_LIMIT_YAW            400
  34 #define PIDSUM_LIMIT_MIN            100
  35 #define PIDSUM_LIMIT_MAX            1000
  36
  37 // Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float
  38 #define PTERM_SCALE 0.032029f
  39 #define ITERM_SCALE 0.244381f
  40 #define DTERM_SCALE 0.000529f
  41
  42 // The constant scale factor to replace the Kd component of the feedforward calculation.
  43 // This value gives the same "feel" as the previous Kd default of 26 (26 * DTERM_SCALE)
  44 #define FEEDFORWARD_SCALE 0.013754f
  45
  46 typedef enum {
  47     PID_ROLL,
  48     PID_PITCH,
  49     PID_YAW,
  50     PID_ALT,
  51     PID_POS,
  52     PID_POSR,
  53     PID_NAVR,
  54     PID_LEVEL,
  55     PID_MAG,
  56     PID_VEL,
  57     PID_ITEM_COUNT
  58 } pidIndex_e;
  59
  60 typedef enum {
  61     SUPEREXPO_YAW_OFF = 0,
  62     SUPEREXPO_YAW_ON,
  63     SUPEREXPO_YAW_ALWAYS
  64 } pidSuperExpoYaw_e;
  65
  66 typedef enum {
  67     PID_STABILISATION_OFF = 0,
  68     PID_STABILISATION_ON
  69 } pidStabilisationState_e;
  70
  71 typedef enum {
  72     PID_CRASH_RECOVERY_OFF = 0,
  73     PID_CRASH_RECOVERY_ON,
  74     PID_CRASH_RECOVERY_BEEP
  75 } pidCrashRecovery_e;
  76
  77 typedef struct pidf_s {
  78     uint8_t P;
  79     uint8_t I;
  80     uint8_t D;
  81     uint16_t F;
  82 } pidf_t;
  83
  84 typedef enum {
  85     ANTI_GRAVITY_SMOOTH,
  86     ANTI_GRAVITY_STEP
  87 } antiGravityMode_e;
  88
  89 typedef enum {
  90     ITERM_RELAX_OFF,
  91     ITERM_RELAX_RP,
  92     ITERM_RELAX_RPY,
  93     ITERM_RELAX_RP_INC,
  94     ITERM_RELAX_RPY_INC
  95 } itermRelax_e;
  96
  97 typedef enum {
  98     ITERM_RELAX_GYRO,
  99     ITERM_RELAX_SETPOINT
 100 } itermRelaxType_e;
 101
 102 typedef struct pidProfile_s {
 103     uint16_t yaw_lowpass_hz;                // Additional yaw filter when yaw axis too noisy
 104     uint16_t dterm_lowpass_hz;              // Delta Filter in hz
 105     uint16_t dterm_notch_hz;                // Biquad dterm notch hz
 106     uint16_t dterm_notch_cutoff;            // Biquad dterm notch low cutoff
 107
 108     pidf_t  pid[PID_ITEM_COUNT];
 109
 110     uint8_t dterm_filter_type;              // Filter selection for dterm
 111     uint8_t itermWindupPointPercent;        // Experimental ITerm windup threshold, percent motor saturation
 112     uint16_t pidSumLimit;
 113     uint16_t pidSumLimitYaw;
 114     uint8_t pidAtMinThrottle;               // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
 115     uint8_t levelAngleLimit;                // Max angle in degrees in level mode
 116
 117     uint8_t horizon_tilt_effect;            // inclination factor for Horizon mode
 118     uint8_t horizon_tilt_expert_mode;       // OFF or ON
 119
 120     // Betaflight PID controller parameters
 121     uint8_t  antiGravityMode;             // type of anti gravity method
 122     uint16_t itermThrottleThreshold;        // max allowed throttle delta before iterm accelerated in ms
 123     uint16_t itermAcceleratorGain;          // Iterm Accelerator Gain when itermThrottlethreshold is hit
 124     uint16_t yawRateAccelLimit;             // yaw accel limiter for deg/sec/ms
 125     uint16_t rateAccelLimit;                // accel limiter roll/pitch deg/sec/ms
 126     uint16_t crash_dthreshold;              // dterm crash value
 127     uint16_t crash_gthreshold;              // gyro crash value
 128     uint16_t crash_setpoint_threshold;      // setpoint must be below this value to detect crash, so flips and rolls are not interpreted as crashes
 129     uint16_t crash_time;                    // ms
 130     uint16_t crash_delay;                   // ms
 131     uint8_t crash_recovery_angle;           // degrees
 132     uint8_t crash_recovery_rate;            // degree/second
 133     uint8_t vbatPidCompensation;            // Scale PIDsum to battery voltage
 134     uint8_t feedForwardTransition;          // Feed forward weight transition
 135     uint16_t crash_limit_yaw;               // limits yaw errorRate, so crashes don't cause huge throttle increase
 136     uint16_t itermLimit;
 137     uint16_t dterm_lowpass2_hz;             // Extra PT1 Filter on D in hz
 138     uint8_t crash_recovery;                 // off, on, on and beeps when it is in crash recovery mode
 139     uint8_t throttle_boost;                 // how much should throttle be boosted during transient changes 0-100, 100 adds 10x hpf filtered throttle
 140     uint8_t throttle_boost_cutoff;          // Which cutoff frequency to use for throttle boost. higher cutoffs keep the boost on for shorter. Specified in hz.
 141     uint8_t iterm_rotation;                 // rotates iterm to translate world errors to local coordinate system
 142     uint8_t smart_feedforward;              // takes only the larger of P and the D weight feed forward term if they have the same sign.
 143     uint8_t iterm_relax_type;               // Specifies type of relax algorithm
 144     uint8_t iterm_relax_cutoff;             // This cutoff frequency specifies a low pass filter which predicts average response of the quad to setpoint
 145     uint8_t iterm_relax;                    // Enable iterm suppression during stick input
 146     uint8_t acro_trainer_angle_limit;       // Acro trainer roll/pitch angle limit in degrees
 147     uint8_t acro_trainer_debug_axis;        // The axis for which record debugging values are captured 0=roll, 1=pitch
 148     uint8_t acro_trainer_gain;              // The strength of the limiting. Raising may reduce overshoot but also lead to oscillation around the angle limit
 149     uint16_t acro_trainer_lookahead_ms;     // The lookahead window in milliseconds used to reduce overshoot
 150     uint8_t abs_control_gain;               // How strongly should the absolute accumulated error be corrected for
 151     uint8_t abs_control_limit;              // Limit to the correction
 152     uint8_t abs_control_error_limit;        // Limit to the accumulated error
 153 } pidProfile_t;
 154
 155 #ifndef USE_OSD_SLAVE
 156 PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);
 157 #endif
 158
 159 typedef struct pidConfig_s {
 160     uint8_t pid_process_denom;              // Processing denominator for PID controller vs gyro sampling rate
 161     uint8_t runaway_takeoff_prevention;          // off, on - enables pidsum runaway disarm logic
 162     uint16_t runaway_takeoff_deactivate_delay;   // delay in ms for "in-flight" conditions before deactivation (successful flight)
 163     uint8_t runaway_takeoff_deactivate_throttle; // minimum throttle percent required during deactivation phase
 164 } pidConfig_t;
 165
 166 PG_DECLARE(pidConfig_t, pidConfig);
 167
 168 union rollAndPitchTrims_u;
 169 void pidController(const pidProfile_t *pidProfile, const union rollAndPitchTrims_u *angleTrim, timeUs_t currentTimeUs);
 170
 171 typedef struct pidAxisData_s {
 172     float P;
 173     float I;
 174     float D;
 175     float F;
 176
 177     float Sum;
 178 } pidAxisData_t;
 179
 180 extern pidAxisData_t pidData[3];
 181
 182 extern uint32_t targetPidLooptime;
 183
 184 extern float throttleBoost;
 185 extern pt1Filter_t throttleLpf;
 186
 187 void pidResetITerm(void);
 188 void pidStabilisationState(pidStabilisationState_e pidControllerState);
 189 void pidSetItermAccelerator(float newItermAccelerator);
 190 void pidInitFilters(const pidProfile_t *pidProfile);
 191 void pidInitConfig(const pidProfile_t *pidProfile);
 192 void pidInit(const pidProfile_t *pidProfile);
 193 void pidCopyProfile(uint8_t dstPidProfileIndex, uint8_t srcPidProfileIndex);
 194 bool crashRecoveryModeActive(void);
 195 void pidAcroTrainerInit(void);
 196 void pidSetAcroTrainerState(bool newState);
 197 void pidInitSetpointDerivativeLpf(uint16_t filterCutoff, uint8_t debugAxis, uint8_t filterType);
 198 void pidUpdateSetpointDerivativeLpf(uint16_t filterCutoff);
 199 void pidUpdateAntiGravityThrottleFilter(float throttle);
 200 bool pidOsdAntiGravityActive(void);
 201 bool pidOsdAntiGravityMode(void);
 202 void pidSetAntiGravityState(bool newState);
 203 bool pidAntiGravityEnabled(void);