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 #define YAW_JUMP_PREVENTION_LIMIT_LOW 80
  25 #define YAW_JUMP_PREVENTION_LIMIT_HIGH 400
  26
  27 #define DYNAMIC_PTERM_STICK_THRESHOLD 400
  28
  29 typedef enum {
  30     PIDROLL,
  31     PIDPITCH,
  32     PIDYAW,
  33     PIDALT,
  34     PIDPOS,
  35     PIDPOSR,
  36     PIDNAVR,
  37     PIDLEVEL,
  38     PIDMAG,
  39     PIDVEL,
  40     PID_ITEM_COUNT
  41 } pidIndex_e;
  42
  43 typedef enum {
  44     PID_CONTROLLER_LEGACY = 0,           // Legacy PID controller. Old INT / Rewrite with 2.9 status. Fastest performance....least math. Will stay same in the future
  45     PID_CONTROLLER_BETAFLIGHT,           // Betaflight PID controller. Old luxfloat -> float evolution. More math added and maintained in the future
  46     PID_COUNT
  47 } pidControllerType_e;
  48
  49 typedef enum {
  50     DELTA_FROM_ERROR = 0,
  51     DELTA_FROM_MEASUREMENT
  52 } pidDeltaType_e;
  53
  54 typedef enum {
  55     SUPEREXPO_YAW_OFF = 0,
  56     SUPEREXPO_YAW_ON,
  57     SUPEREXPO_YAW_ALWAYS
  58 } pidSuperExpoYaw_e;
  59
  60 typedef enum {
  61     NEGATIVE_ERROR = 0,
  62     POSITIVE_ERROR
  63 } pidErrorPolarity_e;
  64
  65 typedef enum {
  66     PID_STABILISATION_OFF = 0,
  67     PID_STABILISATION_ON
  68 } pidStabilisationState_e;
  69
  70 typedef struct pidProfile_s {
  71     uint8_t pidController;                  // 1 = rewrite betaflight evolved from http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671, 2 = Betaflight PIDc (Evolved Luxfloat)
  72
  73     uint8_t P8[PID_ITEM_COUNT];
  74     uint8_t I8[PID_ITEM_COUNT];
  75     uint8_t D8[PID_ITEM_COUNT];
  76
  77     uint16_t dterm_lpf_hz;                  // Delta Filter in hz
  78     uint16_t yaw_lpf_hz;                    // Additional yaw filter when yaw axis too noisy
  79     uint8_t deltaMethod;                    // Alternative delta Calculation
  80     uint16_t rollPitchItermIgnoreRate;      // Experimental threshold for resetting iterm for pitch and roll on certain rates
  81     uint16_t yawItermIgnoreRate;            // Experimental threshold for resetting iterm for yaw on certain rates
  82     uint16_t yaw_p_limit;
  83     uint8_t dterm_average_count;            // Configurable delta count for dterm
  84     uint8_t vbatPidCompensation;            // Scale PIDsum to battery voltage
  85     uint8_t zeroThrottleStabilisation;      // Disable/Enable zero throttle stabilisation. Normally even without airmode P and D would be active.
  86
  87     // Betaflight PID controller parameters
  88     uint8_t toleranceBand;                  // Error tolerance area where toleranceBandReduction is applied under certain circumstances
  89     uint8_t toleranceBandReduction;         // Lowest possible P and D reduction in percentage
  90     uint8_t zeroCrossAllowanceCount;        // Amount of bouncebacks within tolerance band allowed before reduction kicks in
  91     uint16_t accelerationLimitPercent;      // Percentage that motor is allowed to increase or decrease in a period of 1ms
  92     uint8_t itermThrottleGain;              // Throttle coupling to iterm. Quick throttle changes will bump iterm
  93
  94 #ifdef GTUNE
  95     uint8_t  gtune_lolimP[3];               // [0..200] Lower limit of P during G tune
  96     uint8_t  gtune_hilimP[3];               // [0..200] Higher limit of P during G tune. 0 Disables tuning for that axis.
  97     uint8_t  gtune_pwr;                     // [0..10] Strength of adjustment
  98     uint16_t gtune_settle_time;             // [200..1000] Settle time in ms
  99     uint8_t  gtune_average_cycles;          // [8..128] Number of looptime cycles used for gyro average calculation
 100 #endif
 101 } pidProfile_t;
 102
 103 struct controlRateConfig_s;
 104 union rollAndPitchTrims_u;
 105 struct rxConfig_s;
 106 typedef void (*pidControllerFuncPtr)(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
 107         const union rollAndPitchTrims_u *angleTrim, const struct rxConfig_s *rxConfig);            // pid controller function prototype
 108
 109 extern int16_t axisPID[XYZ_AXIS_COUNT];
 110 extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
 111 bool airmodeWasActivated;
 112 extern uint32_t targetPidLooptime;
 113
 114 void pidSetController(pidControllerType_e type);
 115 void pidResetErrorGyroState(void);
 116 void pidStabilisationState(pidStabilisationState_e pidControllerState);
 117 void setTargetPidLooptime(uint8_t pidProcessDenom);
 118