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