src/main/flight/flight.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20 #include <math.h>
  21
  22 #include <platform.h>
  23
  24 #include "build_config.h"
  25
  26 #include "common/axis.h"
  27 #include "common/maths.h"
  28
  29 #include "drivers/sensor.h"
  30 #include "drivers/accgyro.h"
  31
  32 #include "sensors/sensors.h"
  33 #include "sensors/gyro.h"
  34 #include "sensors/acceleration.h"
  35
  36 #include "rx/rx.h"
  37
  38 #include "io/rc_controls.h"
  39 #include "io/gps.h"
  40
  41 #include "flight/flight.h"
  42 #include "flight/imu.h"
  43 #include "flight/navigation.h"
  44 #include "flight/autotune.h"
  45
  46 #include "config/runtime_config.h"
  47
  48 extern uint16_t cycleTime;
  49 extern uint8_t motorCount;
  50
  51 int16_t heading, magHold;
  52 int16_t axisPID[3];
  53
  54 #ifdef BLACKBOX
  55 int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
  56 #endif
  57
  58 uint8_t dynP8[3], dynI8[3], dynD8[3];
  59
  60 static int32_t errorGyroI[3] = { 0, 0, 0 };
  61 static float errorGyroIf[3] = { 0.0f, 0.0f, 0.0f };
  62 static int32_t errorAngleI[2] = { 0, 0 };
  63
  64 static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
  65         uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig);
  66
  67 typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
  68         uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig);            // pid controller function prototype
  69
  70 pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are we using, defaultMultiWii
  71
  72 void resetErrorAngle(void)
  73 {
  74     errorAngleI[ROLL] = 0;
  75     errorAngleI[PITCH] = 0;
  76 }
  77
  78 void resetErrorGyro(void)
  79 {
  80     errorGyroI[ROLL] = 0;
  81     errorGyroI[PITCH] = 0;
  82     errorGyroI[YAW] = 0;
  83
  84     errorGyroIf[ROLL] = 0;
  85     errorGyroIf[PITCH] = 0;
  86     errorGyroIf[YAW] = 0;
  87 }
  88
  89 const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
  90
  91 #ifdef AUTOTUNE
  92 bool shouldAutotune(void)
  93 {
  94     return ARMING_FLAG(ARMED) && FLIGHT_MODE(AUTOTUNE_MODE);
  95 }
  96 #endif
  97
  98 static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
  99         uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
 100 {
 101     float RateError, errorAngle, AngleRate, gyroRate;
 102     float ITerm,PTerm,DTerm;
 103     int32_t stickPosAil, stickPosEle, mostDeflectedPos;
 104     static float lastGyroRate[3];
 105     static float delta1[3], delta2[3];
 106     float delta, deltaSum;
 107     float dT;
 108     int axis;
 109     float horizonLevelStrength = 1;
 110
 111     dT = (float)cycleTime * 0.000001f;
 112
 113     if (FLIGHT_MODE(HORIZON_MODE)) {
 114
 115         // Figure out the raw stick positions
 116         stickPosAil = getRcStickDeflection(FD_ROLL, rxConfig->midrc);
 117         stickPosEle = getRcStickDeflection(FD_PITCH, rxConfig->midrc);
 118
 119         if(ABS(stickPosAil) > ABS(stickPosEle)){
 120             mostDeflectedPos = ABS(stickPosAil);
 121         }
 122         else {
 123             mostDeflectedPos = ABS(stickPosEle);
 124         }
 125
 126         // Progressively turn off the horizon self level strength as the stick is banged over
 127         horizonLevelStrength = (float)(500 - mostDeflectedPos) / 500;  // 1 at centre stick, 0 = max stick deflection
 128         if(pidProfile->H_sensitivity == 0){
 129             horizonLevelStrength = 0;
 130         } else {
 131             horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (100 / pidProfile->H_sensitivity)) + 1, 0, 1);
 132         }
 133     }
 134
 135     // ----------PID controller----------
 136     for (axis = 0; axis < 3; axis++) {
 137         // -----Get the desired angle rate depending on flight mode
 138         if (axis == FD_YAW) {
 139             // YAW is always gyro-controlled (MAG correction is applied to rcCommand) 100dps to 1100dps max yaw rate
 140             AngleRate = (float)((controlRateConfig->yawRate + 10) * rcCommand[YAW]) / 50.0f;
 141          } else {
 142             // calculate error and limit the angle to the max inclination
 143 #ifdef GPS
 144             errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
 145                     +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
 146 #else
 147             errorAngle = (constrain(rcCommand[axis], -((int) max_angle_inclination),
 148                     +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
 149 #endif
 150
 151 #ifdef AUTOTUNE
 152             if (shouldAutotune()) {
 153                 errorAngle = autotune(rcAliasToAngleIndexMap[axis], &inclination, errorAngle);
 154             }
 155 #endif
 156
 157             if (FLIGHT_MODE(ANGLE_MODE)) {
 158                 // it's the ANGLE mode - control is angle based, so control loop is needed
 159                 AngleRate = errorAngle * pidProfile->A_level;
 160             } else {
 161                 //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
 162                 AngleRate = (float)((controlRateConfig->rollPitchRate + 20) * rcCommand[axis]) / 50.0f; // 200dps to 1200dps max yaw rate
 163                 if (FLIGHT_MODE(HORIZON_MODE)) {
 164                     // mix up angle error to desired AngleRate to add a little auto-level feel
 165                     AngleRate += errorAngle * pidProfile->H_level * horizonLevelStrength;
 166                 }
 167             }
 168         }
 169
 170         gyroRate = gyroData[axis] * gyro.scale; // gyro output scaled to dps
 171
 172         // --------low-level gyro-based PID. ----------
 173         // Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
 174         // -----calculate scaled error.AngleRates
 175         // multiplication of rcCommand corresponds to changing the sticks scaling here
 176         RateError = AngleRate - gyroRate;
 177
 178         // -----calculate P component
 179         PTerm = RateError * pidProfile->P_f[axis];
 180         // -----calculate I component
 181         errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis], -250.0f, 250.0f);
 182
 183         // limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
 184         // I coefficient (I8) moved before integration to make limiting independent from PID settings
 185         ITerm = errorGyroIf[axis];
 186
 187         //-----calculate D-term
 188         delta = gyroRate - lastGyroRate[axis];  // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
 189         lastGyroRate[axis] = gyroRate;
 190
 191         // Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
 192         // would be scaled by different dt each time. Division by dT fixes that.
 193         delta *= (1.0f / dT);
 194         // add moving average here to reduce noise
 195         deltaSum = delta1[axis] + delta2[axis] + delta;
 196         delta2[axis] = delta1[axis];
 197         delta1[axis] = delta;
 198         DTerm = constrainf((deltaSum / 3.0f) * pidProfile->D_f[axis], -300.0f, 300.0f);
 199
 200         // -----calculate total PID output
 201         axisPID[axis] = constrain(lrintf(PTerm + ITerm - DTerm), -1000, 1000);
 202
 203 #ifdef BLACKBOX
 204         axisPID_P[axis] = PTerm;
 205         axisPID_I[axis] = ITerm;
 206         axisPID_D[axis] = -DTerm;
 207 #endif
 208     }
 209 }
 210
 211 static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
 212         uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
 213 {
 214     UNUSED(rxConfig);
 215
 216     int axis, prop;
 217     int32_t error, errorAngle;
 218     int32_t PTerm, ITerm, PTermACC = 0, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
 219     static int16_t lastGyro[3] = { 0, 0, 0 };
 220     static int32_t delta1[3], delta2[3];
 221     int32_t deltaSum;
 222     int32_t delta;
 223
 224     UNUSED(controlRateConfig);
 225
 226     // **** PITCH & ROLL & YAW PID ****
 227     prop = MIN(MAX(ABS(rcCommand[PITCH]), ABS(rcCommand[ROLL])), 500); // range [0;500]
 228
 229     for (axis = 0; axis < 3; axis++) {
 230         if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC
 231             // observe max inclination
 232 #ifdef GPS
 233             errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
 234                     +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
 235 #else
 236             errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
 237                     +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
 238 #endif
 239
 240 #ifdef AUTOTUNE
 241             if (shouldAutotune()) {
 242                 errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
 243             }
 244 #endif
 245
 246             PTermACC = errorAngle * pidProfile->P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768   16 bits is ok for result
 247             PTermACC = constrain(PTermACC, -pidProfile->D8[PIDLEVEL] * 5, +pidProfile->D8[PIDLEVEL] * 5);
 248
 249             errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp
 250             ITermACC = (errorAngleI[axis] * pidProfile->I8[PIDLEVEL]) >> 12;
 251         }
 252         if (!FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE) || axis == FD_YAW) { // MODE relying on GYRO or YAW axis
 253             error = (int32_t) rcCommand[axis] * 10 * 8 / pidProfile->P8[axis];
 254             error -= gyroData[axis] / 4;
 255
 256             PTermGYRO = rcCommand[axis];
 257
 258             errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
 259             if ((ABS(gyroData[axis]) > (640 * 4)) || (axis == FD_YAW && ABS(rcCommand[axis]) > 100))
 260                 errorGyroI[axis] = 0;
 261
 262             ITermGYRO = (errorGyroI[axis] / 125 * pidProfile->I8[axis]) / 64;
 263         }
 264         if (FLIGHT_MODE(HORIZON_MODE) && (axis == FD_ROLL || axis == FD_PITCH)) {
 265             PTerm = (PTermACC * (500 - prop) + PTermGYRO * prop) / 500;
 266             ITerm = (ITermACC * (500 - prop) + ITermGYRO * prop) / 500;
 267         } else {
 268             if (FLIGHT_MODE(ANGLE_MODE) && (axis == FD_ROLL || axis == FD_PITCH)) {
 269                 PTerm = PTermACC;
 270                 ITerm = ITermACC;
 271             } else {
 272                 PTerm = PTermGYRO;
 273                 ITerm = ITermGYRO;
 274             }
 275         }
 276
 277         PTerm -= ((int32_t)gyroData[axis] / 4) * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
 278         delta = (gyroData[axis] - lastGyro[axis]) / 4;
 279         lastGyro[axis] = gyroData[axis];
 280         deltaSum = delta1[axis] + delta2[axis] + delta;
 281         delta2[axis] = delta1[axis];
 282         delta1[axis] = delta;
 283         DTerm = (deltaSum * dynD8[axis]) / 32;
 284         axisPID[axis] = PTerm + ITerm - DTerm;
 285
 286 #ifdef BLACKBOX
 287         axisPID_P[axis] = PTerm;
 288         axisPID_I[axis] = ITerm;
 289         axisPID_D[axis] = -DTerm;
 290 #endif
 291     }
 292 }
 293
 294 #define GYRO_P_MAX 300
 295 #define GYRO_I_MAX 256
 296
 297 static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
 298             rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
 299 {
 300     UNUSED(rxConfig);
 301
 302     int axis, prop = 0;
 303     int32_t rc, error, errorAngle;
 304     int32_t PTerm, ITerm, PTermACC, ITermACC, DTerm;
 305     static int16_t lastGyro[2] = { 0, 0 };
 306     static int32_t delta1[2] = { 0, 0 }, delta2[2] = { 0, 0 };
 307     int32_t delta;
 308
 309     if (FLIGHT_MODE(HORIZON_MODE)) prop = MIN(MAX(ABS(rcCommand[PITCH]), ABS(rcCommand[ROLL])), 512);
 310
 311     // PITCH & ROLL
 312     for (axis = 0; axis < 2; axis++) {
 313         rc = rcCommand[axis] << 1;
 314         error = rc - (gyroData[axis] / 4);
 315         errorGyroI[axis]  = constrain(errorGyroI[axis] + error, -16000, +16000);   // WindUp   16 bits is ok here
 316         if (ABS(gyroData[axis]) > (640 * 4)) errorGyroI[axis] = 0;
 317
 318         ITerm = (errorGyroI[axis] >> 7) * pidProfile->I8[axis] >> 6;   // 16 bits is ok here 16000/125 = 128 ; 128*250 = 32000
 319
 320         PTerm = (int32_t)rc * pidProfile->P8[axis] >> 6;
 321
 322         if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {   // axis relying on ACC
 323             // 50 degrees max inclination
 324 #ifdef GPS
 325             errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
 326                 +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
 327 #else
 328             errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
 329                 +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
 330 #endif
 331
 332 #ifdef AUTOTUNE
 333             if (shouldAutotune()) {
 334                 errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
 335             }
 336 #endif
 337
 338             errorAngleI[axis]  = constrain(errorAngleI[axis] + errorAngle, -10000, +10000);                                                // WindUp     //16 bits is ok here
 339
 340             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
 341
 342             int16_t limit = pidProfile->D8[PIDLEVEL] * 5;
 343             PTermACC = constrain(PTermACC, -limit, +limit);
 344
 345             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
 346
 347             ITerm = ITermACC + ((ITerm - ITermACC) * prop >> 9);
 348             PTerm = PTermACC + ((PTerm - PTermACC) * prop >> 9);
 349         }
 350
 351         PTerm -= ((int32_t)(gyroData[axis] / 4) * dynP8[axis]) >> 6;   // 32 bits is needed for calculation
 352
 353         delta = (gyroData[axis] - lastGyro[axis]) / 4;   // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
 354         lastGyro[axis] = gyroData[axis];
 355         DTerm = delta1[axis] + delta2[axis] + delta;
 356         delta2[axis] = delta1[axis];
 357         delta1[axis] = delta;
 358
 359         DTerm = ((int32_t)DTerm * dynD8[axis]) >> 5;   // 32 bits is needed for calculation
 360
 361         axisPID[axis] = PTerm + ITerm - DTerm;
 362
 363 #ifdef BLACKBOX
 364         axisPID_P[axis] = PTerm;
 365         axisPID_I[axis] = ITerm;
 366         axisPID_D[axis] = -DTerm;
 367 #endif
 368     }
 369
 370     //YAW
 371     rc = (int32_t)rcCommand[FD_YAW] * (2 * controlRateConfig->yawRate + 30)  >> 5;
 372 #ifdef ALIENWII32
 373     error = rc - gyroData[FD_YAW];
 374 #else
 375     error = rc - (gyroData[FD_YAW] / 4);
 376 #endif
 377     errorGyroI[FD_YAW]  += (int32_t)error * pidProfile->I8[FD_YAW];
 378     errorGyroI[FD_YAW]  = constrain(errorGyroI[FD_YAW], 2 - ((int32_t)1 << 28), -2 + ((int32_t)1 << 28));
 379     if (ABS(rc) > 50) errorGyroI[FD_YAW] = 0;
 380
 381     PTerm = (int32_t)error * pidProfile->P8[FD_YAW] >> 6;
 382
 383     // Constrain YAW by D value if not servo driven in that case servolimits apply
 384     if(motorCount > 3) {
 385         int16_t limit = GYRO_P_MAX - pidProfile->D8[FD_YAW];
 386         PTerm = constrain(PTerm, -limit, +limit);
 387     }
 388
 389     ITerm = constrain((int16_t)(errorGyroI[FD_YAW] >> 13), -GYRO_I_MAX, +GYRO_I_MAX);
 390
 391     axisPID[FD_YAW] =  PTerm + ITerm;
 392
 393 #ifdef BLACKBOX
 394     axisPID_P[FD_YAW] = PTerm;
 395     axisPID_I[FD_YAW] = ITerm;
 396     axisPID_D[FD_YAW] = 0;
 397 #endif
 398 }
 399
 400 static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
 401         uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
 402 {
 403     UNUSED(rxConfig);
 404
 405     int axis, prop;
 406     int32_t rc, error, errorAngle;
 407     int32_t PTerm, ITerm, PTermACC = 0, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
 408     static int16_t lastGyro[2] = { 0, 0 };
 409     static int32_t delta1[2] = { 0, 0 }, delta2[2] = { 0, 0 };
 410     int32_t deltaSum;
 411     int32_t delta;
 412
 413     UNUSED(controlRateConfig);
 414
 415     // **** PITCH & ROLL ****
 416     prop = MIN(MAX(ABS(rcCommand[PITCH]), ABS(rcCommand[ROLL])), 500); // range [0;500]
 417
 418     for (axis = 0; axis < 2; axis++) {
 419         if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) { // MODE relying on ACC
 420             // observe max inclination
 421 #ifdef GPS
 422             errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
 423                     +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
 424 #else
 425             errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
 426                     +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
 427 #endif
 428
 429 #ifdef AUTOTUNE
 430             if (shouldAutotune()) {
 431                 errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
 432             }
 433 #endif
 434
 435             PTermACC = errorAngle * pidProfile->P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768   16 bits is ok for result
 436             PTermACC = constrain(PTermACC, -pidProfile->D8[PIDLEVEL] * 5, +pidProfile->D8[PIDLEVEL] * 5);
 437
 438             errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp
 439             ITermACC = (errorAngleI[axis] * pidProfile->I8[PIDLEVEL]) >> 12;
 440         }
 441         if (!FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) { // MODE relying on GYRO
 442             error = (int32_t) rcCommand[axis] * 10 * 8 / pidProfile->P8[axis];
 443             error -= gyroData[axis] / 4;
 444
 445             PTermGYRO = rcCommand[axis];
 446
 447             errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
 448             if (ABS(gyroData[axis]) > (640 * 4))
 449                 errorGyroI[axis] = 0;
 450
 451             ITermGYRO = (errorGyroI[axis] / 125 * pidProfile->I8[axis]) / 64;
 452         }
 453         if (FLIGHT_MODE(HORIZON_MODE)) {
 454             PTerm = (PTermACC * (500 - prop) + PTermGYRO * prop) / 500;
 455             ITerm = (ITermACC * (500 - prop) + ITermGYRO * prop) / 500;
 456         } else {
 457             if (FLIGHT_MODE(ANGLE_MODE)) {
 458                 PTerm = PTermACC;
 459                 ITerm = ITermACC;
 460             } else {
 461                 PTerm = PTermGYRO;
 462                 ITerm = ITermGYRO;
 463             }
 464         }
 465
 466         PTerm -= ((int32_t)gyroData[axis] / 4) * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
 467         delta = (gyroData[axis] - lastGyro[axis]) / 4;
 468         lastGyro[axis] = gyroData[axis];
 469         deltaSum = delta1[axis] + delta2[axis] + delta;
 470         delta2[axis] = delta1[axis];
 471         delta1[axis] = delta;
 472         DTerm = (deltaSum * dynD8[axis]) / 32;
 473         axisPID[axis] = PTerm + ITerm - DTerm;
 474
 475 #ifdef BLACKBOX
 476         axisPID_P[axis] = PTerm;
 477         axisPID_I[axis] = ITerm;
 478         axisPID_D[axis] = -DTerm;
 479 #endif
 480     }
 481     //YAW
 482     rc = (int32_t)rcCommand[FD_YAW] * (2 * controlRateConfig->yawRate + 30)  >> 5;
 483 #ifdef ALIENWII32
 484     error = rc - gyroData[FD_YAW];
 485 #else
 486     error = rc - (gyroData[FD_YAW] / 4);
 487 #endif
 488     errorGyroI[FD_YAW]  += (int32_t)error * pidProfile->I8[FD_YAW];
 489     errorGyroI[FD_YAW]  = constrain(errorGyroI[FD_YAW], 2 - ((int32_t)1 << 28), -2 + ((int32_t)1 << 28));
 490     if (ABS(rc) > 50) errorGyroI[FD_YAW] = 0;
 491
 492     PTerm = (int32_t)error * pidProfile->P8[FD_YAW] >> 6;
 493
 494     // Constrain YAW by D value if not servo driven in that case servolimits apply
 495     if(motorCount > 3) {
 496         int16_t limit = GYRO_P_MAX - pidProfile->D8[FD_YAW];
 497         PTerm = constrain(PTerm, -limit, +limit);
 498     }
 499
 500     ITerm = constrain((int16_t)(errorGyroI[FD_YAW] >> 13), -GYRO_I_MAX, +GYRO_I_MAX);
 501
 502     axisPID[FD_YAW] =  PTerm + ITerm;
 503
 504
 505 #ifdef BLACKBOX
 506     axisPID_P[FD_YAW] = PTerm;
 507     axisPID_I[FD_YAW] = ITerm;
 508     axisPID_D[FD_YAW] = 0;
 509 #endif
 510 }
 511
 512 #define RCconstPI   0.159154943092f // 0.5f / M_PI;
 513 #define MAIN_CUT_HZ 12.0f // (default 12Hz, Range 1-50Hz)
 514 #define OLD_YAW 0 // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw.
 515
 516 static void pidHarakiri(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
 517 rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
 518 {
 519     UNUSED(rxConfig);
 520
 521     float delta, RCfactor, rcCommandAxis, MainDptCut;
 522     float PTerm = 0, ITerm = 0, DTerm = 0, PTermACC = 0, ITermACC = 0, ITermGYRO = 0, error = 0, prop = 0;
 523     static float lastGyro[2] = {0, 0}, lastDTerm[2] = {0, 0};
 524     float tmp0flt;
 525     int32_t tmp0;
 526     uint8_t axis;
 527     float ACCDeltaTimeINS = 0;
 528     float FLOATcycleTime = 0;
 529
 530 //    MainDptCut = RCconstPI / (float)cfg.maincuthz;                           // Initialize Cut off frequencies for mainpid D
 531     MainDptCut = RCconstPI / MAIN_CUT_HZ;                                      // maincuthz (default 12Hz, Range 1-50Hz), hardcoded for now
 532     FLOATcycleTime  = (float)constrain(cycleTime, 1, 100000);                  // 1us - 100ms
 533     ACCDeltaTimeINS = FLOATcycleTime * 0.000001f;                              // ACCDeltaTimeINS is in seconds now
 534     RCfactor = ACCDeltaTimeINS / (MainDptCut + ACCDeltaTimeINS);               // used for pt1 element
 535
 536     if (FLIGHT_MODE(HORIZON_MODE)) {
 537         prop = (float)MIN(MAX(ABS(rcCommand[PITCH]), ABS(rcCommand[ROLL])), 450) / 450.0f;
 538     }
 539
 540     for (axis = 0; axis < 2; axis++) {
 541         rcCommandAxis = (float)rcCommand[axis];                                // Calculate common values for pid controllers
 542         if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
 543 #ifdef GPS
 544             error = constrain(2.0f * rcCommandAxis + GPS_angle[axis], -((int) max_angle_inclination), +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
 545 #else
 546             error = constrain(2.0f * rcCommandAxis, -((int) max_angle_inclination), +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
 547 #endif
 548
 549 #ifdef AUTOTUNE
 550             if (shouldAutotune()) {
 551                 error = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(error)));
 552             }
 553 #endif
 554             PTermACC = error * (float)pidProfile->P8[PIDLEVEL] * 0.008f;
 555             tmp0flt = (float)pidProfile->D8[PIDLEVEL] * 5.0f;
 556             PTermACC = constrain(PTermACC, -tmp0flt, +tmp0flt);
 557             errorAngleI[axis] = constrain(errorAngleI[axis] + error * ACCDeltaTimeINS, -30.0f, +30.0f);
 558             ITermACC = errorAngleI[axis] * (float)pidProfile->I8[PIDLEVEL] * 0.08f;
 559         }
 560
 561         if (!FLIGHT_MODE(ANGLE_MODE)) {
 562             if (ABS((int16_t)gyroData[axis]) > 2560) {
 563                 errorGyroI[axis] = 0.0f;
 564             } else {
 565                 error = (rcCommandAxis * 320.0f / (float)pidProfile->P8[axis]) - gyroData[axis];
 566                 errorGyroI[axis] = constrain(errorGyroI[axis] + error * ACCDeltaTimeINS, -192.0f, +192.0f);
 567             }
 568
 569             ITermGYRO = errorGyroI[axis] * (float)pidProfile->I8[axis] * 0.01f;
 570
 571             if (FLIGHT_MODE(HORIZON_MODE)) {
 572                 PTerm = PTermACC + prop * (rcCommandAxis - PTermACC);
 573                 ITerm = ITermACC + prop * (ITermGYRO - ITermACC);
 574             } else {
 575                 PTerm = rcCommandAxis;
 576                 ITerm = ITermGYRO;
 577             }
 578         } else {
 579             PTerm = PTermACC;
 580             ITerm = ITermACC;
 581         }
 582
 583         PTerm -= gyroData[axis] * dynP8[axis] * 0.003f;
 584         delta = (gyroData[axis] - lastGyro[axis]) / ACCDeltaTimeINS;
 585
 586         lastGyro[axis] = gyroData[axis];
 587         lastDTerm[axis] += RCfactor * (delta - lastDTerm[axis]);
 588         DTerm = lastDTerm[axis] * dynD8[axis] * 0.00007f;
 589
 590         axisPID[axis] = lrintf(PTerm + ITerm - DTerm);                         // Round up result.
 591
 592 #ifdef BLACKBOX
 593         axisPID_P[axis] = PTerm;
 594         axisPID_I[axis] = ITerm;
 595         axisPID_D[axis] = -DTerm;
 596 #endif
 597     }
 598
 599     tmp0flt = (int32_t)FLOATcycleTime & (int32_t)~3;                          // Filter last 2 bit jitter
 600     tmp0flt /= 3000.0f;
 601
 602     if (OLD_YAW) { // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw. hardcoded for now
 603         PTerm = ((int32_t)pidProfile->P8[FD_YAW] * (100 - (int32_t)controlRateConfig->yawRate * (int32_t)ABS(rcCommand[FD_YAW]) / 500)) / 100;
 604         tmp0 = lrintf(gyroData[FD_YAW] * 0.25f);
 605         PTerm = rcCommand[FD_YAW] - tmp0 * PTerm / 80;
 606         if ((ABS(tmp0) > 640) || (ABS(rcCommand[FD_YAW]) > 100)) {
 607             errorGyroI[FD_YAW] = 0;
 608         } else {
 609             error = ((int32_t)rcCommand[FD_YAW] * 80 / (int32_t)pidProfile->P8[FD_YAW]) - tmp0;
 610             errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW] + (int32_t)(error * tmp0flt), -16000, +16000); // WindUp
 611             ITerm = (errorGyroI[FD_YAW] / 125 * pidProfile->I8[FD_YAW]) >> 6;
 612         }
 613     } else {
 614         tmp0 = ((int32_t)rcCommand[FD_YAW] * (((int32_t)controlRateConfig->yawRate << 1) + 40)) >> 5;
 615         error = tmp0 - lrintf(gyroData[FD_YAW] * 0.25f);                       // Less Gyrojitter works actually better
 616
 617         if (ABS(tmp0) > 50) {
 618             errorGyroI[FD_YAW] = 0;
 619         } else {
 620             errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW] + (int32_t)(error * (float)pidProfile->I8[FD_YAW] * tmp0flt), -268435454, +268435454);
 621         }
 622
 623         ITerm = constrain(errorGyroI[FD_YAW] >> 13, -GYRO_I_MAX, +GYRO_I_MAX);
 624         PTerm = ((int32_t)error * (int32_t)pidProfile->P8[FD_YAW]) >> 6;
 625
 626         if (motorCount >= 4) { // Constrain FD_YAW by D value if not servo driven in that case servolimits apply
 627             tmp0 = 300;
 628             if (pidProfile->D8[FD_YAW]) tmp0 -= (int32_t)pidProfile->D8[FD_YAW];
 629             PTerm = constrain(PTerm, -tmp0, tmp0);
 630         }
 631     }
 632     axisPID[FD_YAW] = PTerm + ITerm;
 633     axisPID[FD_YAW] = lrintf(axisPID[FD_YAW]);                                 // Round up result.
 634
 635 #ifdef BLACKBOX
 636     axisPID_P[FD_YAW] = PTerm;
 637     axisPID_I[FD_YAW] = ITerm;
 638     axisPID_D[FD_YAW] = 0;
 639 #endif
 640 }
 641
 642 static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
 643         rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
 644 {
 645     UNUSED(rxConfig);
 646
 647     int32_t errorAngle;
 648     int axis;
 649     int32_t delta, deltaSum;
 650     static int32_t delta1[3], delta2[3];
 651     int32_t PTerm, ITerm, DTerm;
 652     static int32_t lastError[3] = { 0, 0, 0 };
 653     int32_t AngleRateTmp, RateError;
 654
 655     // ----------PID controller----------
 656     for (axis = 0; axis < 3; axis++) {
 657         // -----Get the desired angle rate depending on flight mode
 658         if (axis == FD_YAW) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
 659             AngleRateTmp = (((int32_t)(controlRateConfig->yawRate + 27) * rcCommand[YAW]) >> 5);
 660         } else {
 661             // calculate error and limit the angle to max configured inclination
 662 #ifdef GPS
 663             errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
 664                     +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]; // 16 bits is ok here
 665 #else
 666             errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
 667                     +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]; // 16 bits is ok here
 668 #endif
 669
 670 #ifdef AUTOTUNE
 671             if (shouldAutotune()) {
 672                 errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
 673             }
 674 #endif
 675
 676             if (!FLIGHT_MODE(ANGLE_MODE)) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
 677                 AngleRateTmp = ((int32_t)(controlRateConfig->rollPitchRate + 27) * rcCommand[axis]) >> 4;
 678                 if (FLIGHT_MODE(HORIZON_MODE)) {
 679                     // mix up angle error to desired AngleRateTmp to add a little auto-level feel
 680                     AngleRateTmp += (errorAngle * pidProfile->I8[PIDLEVEL]) >> 8;
 681                 }
 682             } else { // it's the ANGLE mode - control is angle based, so control loop is needed
 683                 AngleRateTmp = (errorAngle * pidProfile->P8[PIDLEVEL]) >> 4;
 684             }
 685         }
 686
 687         // --------low-level gyro-based PID. ----------
 688         // Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
 689         // -----calculate scaled error.AngleRates
 690         // multiplication of rcCommand corresponds to changing the sticks scaling here
 691         RateError = AngleRateTmp - (gyroData[axis] / 4);
 692
 693         // -----calculate P component
 694         PTerm = (RateError * pidProfile->P8[axis]) >> 7;
 695         // -----calculate I component
 696         // there should be no division before accumulating the error to integrator, because the precision would be reduced.
 697         // Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.
 698         // Time correction (to avoid different I scaling for different builds based on average cycle time)
 699         // is normalized to cycle time = 2048.
 700         errorGyroI[axis] = errorGyroI[axis] + ((RateError * cycleTime) >> 11) * pidProfile->I8[axis];
 701
 702         // limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
 703         // I coefficient (I8) moved before integration to make limiting independent from PID settings
 704         errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
 705         ITerm = errorGyroI[axis] >> 13;
 706
 707         //-----calculate D-term
 708         delta = RateError - lastError[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
 709         lastError[axis] = RateError;
 710
 711         // Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
 712         // would be scaled by different dt each time. Division by dT fixes that.
 713         delta = (delta * ((uint16_t) 0xFFFF / (cycleTime >> 4))) >> 6;
 714         // add moving average here to reduce noise
 715         deltaSum = delta1[axis] + delta2[axis] + delta;
 716         delta2[axis] = delta1[axis];
 717         delta1[axis] = delta;
 718         DTerm = (deltaSum * pidProfile->D8[axis]) >> 8;
 719
 720         // -----calculate total PID output
 721         axisPID[axis] = PTerm + ITerm + DTerm;
 722
 723 #ifdef BLACKBOX
 724         axisPID_P[axis] = PTerm;
 725         axisPID_I[axis] = ITerm;
 726         axisPID_D[axis] = DTerm;
 727 #endif
 728     }
 729 }
 730
 731 void setPIDController(int type)
 732 {
 733     switch (type) {
 734         case 0:
 735         default:
 736             pid_controller = pidMultiWii;
 737             break;
 738         case 1:
 739             pid_controller = pidRewrite;
 740             break;
 741         case 2:
 742             pid_controller = pidLuxFloat;
 743             break;
 744         case 3:
 745             pid_controller = pidMultiWii23;
 746             break;
 747         case 4:
 748             pid_controller = pidMultiWiiHybrid;
 749             break;
 750         case 5:
 751             pid_controller = pidHarakiri;
 752     }
 753 }
 754