src/main/flight/pid.h

   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 #include "rx/rx.h"
  18
  19 #pragma once
  20
  21 #define GYRO_I_MAX 256                      // Gyro I limiter
  22 #define YAW_P_LIMIT_MIN 100                 // Maximum value for yaw P limiter
  23 #define YAW_P_LIMIT_MAX 500                 // Maximum value for yaw P limiter
  24
  25 #define ITERM_RESET_THRESHOLD 15
  26 #define DYNAMIC_PTERM_STICK_THRESHOLD 400
  27
  28 typedef enum {
  29     PIDROLL,
  30     PIDPITCH,
  31     PIDYAW,
  32     PIDALT,
  33     PIDPOS,
  34     PIDPOSR,
  35     PIDNAVR,
  36     PIDLEVEL,
  37     PIDMAG,
  38     PIDVEL,
  39     PID_ITEM_COUNT
  40 } pidIndex_e;
  41
  42 typedef enum {
  43     PID_CONTROLLER_MWREWRITE = 1,
  44     PID_CONTROLLER_LUX_FLOAT,
  45     PID_COUNT
  46 } pidControllerType_e;
  47
  48 typedef enum {
  49         DELTA_FROM_ERROR = 0,
  50         DELTA_FROM_MEASUREMENT
  51 } pidDeltaType_e;
  52
  53 typedef enum {
  54     RESET_DISABLE = 0,
  55     RESET_ITERM,
  56     RESET_ITERM_AND_REDUCE_PID
  57 } pidErrorResetOption_e;
  58
  59 typedef enum {
  60     SUPEREXPO_YAW_OFF = 0,
  61     SUPEREXPO_YAW_ON,
  62     SUPEREXPO_YAW_ALWAYS
  63 } pidSuperExpoYaw_e;
  64
  65 #define IS_PID_CONTROLLER_FP_BASED(pidController) (pidController == 2)
  66
  67 typedef struct pidProfile_s {
  68     uint8_t pidController;                  // 1 = rewrite from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671, 2 = Luggi09s new baseflight pid
  69
  70     uint8_t P8[PID_ITEM_COUNT];
  71     uint8_t I8[PID_ITEM_COUNT];
  72     uint8_t D8[PID_ITEM_COUNT];
  73
  74     uint8_t H_sensitivity;
  75
  76     uint16_t dterm_lpf_hz;                   // Delta Filter in hz
  77     uint16_t yaw_lpf_hz;                     // Additional yaw filter when yaw axis too noisy
  78     uint16_t rollPitchItermResetRate;       // Experimental threshold for resetting iterm for pitch and roll on certain rates
  79     uint8_t rollPitchItermResetAlways;      // Reset Iterm also without SUPER EXPO
  80     uint16_t yawItermResetRate;             // Experimental threshold for resetting iterm for yaw on certain rates
  81     uint16_t yaw_p_limit;
  82     uint8_t dterm_average_count;            // Configurable delta count for dterm
  83     uint8_t dynamic_pterm;
  84
  85 #ifdef GTUNE
  86     uint8_t  gtune_lolimP[3];               // [0..200] Lower limit of P during G tune
  87     uint8_t  gtune_hilimP[3];               // [0..200] Higher limit of P during G tune. 0 Disables tuning for that axis.
  88     uint8_t  gtune_pwr;                     // [0..10] Strength of adjustment
  89     uint16_t gtune_settle_time;             // [200..1000] Settle time in ms
  90     uint8_t  gtune_average_cycles;          // [8..128] Number of looptime cycles used for gyro average calculation
  91 #endif
  92 } pidProfile_t;
  93
  94 extern int16_t axisPID[XYZ_AXIS_COUNT];
  95 extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
  96 bool antiWindupProtection;
  97 extern uint32_t targetPidLooptime;
  98
  99 void pidSetController(pidControllerType_e type);
 100 void pidResetErrorAngle(void);
 101 void pidResetErrorGyroState(uint8_t resetOption);
 102 void setTargetPidLooptime(uint8_t pidProcessDenom);
 103