/
pid.h
445 lines (385 loc) · 16.8 KB
/
pid.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stdbool.h>
#include "common/time.h"
#include "common/filter.h"
#include "common/axis.h"
#include "pg/pg.h"
#define MAX_PID_PROCESS_DENOM 16
#define PID_CONTROLLER_BETAFLIGHT 1
#define PID_MIXER_SCALING 1000.0f
#define PID_SERVO_MIXER_SCALING 0.7f
#define PIDSUM_LIMIT 500
#define PIDSUM_LIMIT_YAW 400
#define PIDSUM_LIMIT_MIN 100
#define PIDSUM_LIMIT_MAX 1000
#define PID_GAIN_MAX 200
#define F_GAIN_MAX 2000
#define D_MIN_GAIN_MAX 100
// 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
#define PTERM_SCALE 0.032029f
#define ITERM_SCALE 0.244381f
#define DTERM_SCALE 0.000529f
// The constant scale factor to replace the Kd component of the feedforward calculation.
// This value gives the same "feel" as the previous Kd default of 26 (26 * DTERM_SCALE)
#define FEEDFORWARD_SCALE 0.013754f
// Full iterm suppression in setpoint mode at high-passed setpoint rate > 40deg/sec
#define ITERM_RELAX_SETPOINT_THRESHOLD 40.0f
#define ITERM_RELAX_CUTOFF_DEFAULT 15
// Anti gravity I constant
#define AG_KI 21.586988f;
#define ITERM_ACCELERATOR_GAIN_OFF 0
#define ITERM_ACCELERATOR_GAIN_MAX 30000
#define PID_ROLL_DEFAULT { 42, 85, 35, 90 }
#define PID_PITCH_DEFAULT { 46, 90, 38, 95 }
#define PID_YAW_DEFAULT { 45, 90, 0, 90 }
#define D_MIN_DEFAULT { 23, 25, 0 }
#define DYN_LPF_DTERM_MIN_HZ_DEFAULT 70
#define DYN_LPF_DTERM_MAX_HZ_DEFAULT 170
#define DTERM_LOWPASS_2_HZ_DEFAULT 150
typedef enum {
PID_ROLL,
PID_PITCH,
PID_YAW,
PID_LEVEL,
PID_MAG,
PID_ITEM_COUNT
} pidIndex_e;
typedef enum {
SUPEREXPO_YAW_OFF = 0,
SUPEREXPO_YAW_ON,
SUPEREXPO_YAW_ALWAYS
} pidSuperExpoYaw_e;
typedef enum {
PID_STABILISATION_OFF = 0,
PID_STABILISATION_ON
} pidStabilisationState_e;
typedef enum {
PID_CRASH_RECOVERY_OFF = 0,
PID_CRASH_RECOVERY_ON,
PID_CRASH_RECOVERY_BEEP,
PID_CRASH_RECOVERY_DISARM,
} pidCrashRecovery_e;
typedef struct pidf_s {
uint8_t P;
uint8_t I;
uint8_t D;
uint16_t F;
} pidf_t;
typedef enum {
ANTI_GRAVITY_SMOOTH,
ANTI_GRAVITY_STEP
} antiGravityMode_e;
typedef enum {
ITERM_RELAX_OFF,
ITERM_RELAX_RP,
ITERM_RELAX_RPY,
ITERM_RELAX_RP_INC,
ITERM_RELAX_RPY_INC,
ITERM_RELAX_COUNT,
} itermRelax_e;
typedef enum {
ITERM_RELAX_GYRO,
ITERM_RELAX_SETPOINT,
ITERM_RELAX_TYPE_COUNT,
} itermRelaxType_e;
typedef enum ffInterpolationType_e {
FF_INTERPOLATE_OFF,
FF_INTERPOLATE_ON,
FF_INTERPOLATE_AVG2,
FF_INTERPOLATE_AVG3,
FF_INTERPOLATE_AVG4
} ffInterpolationType_t;
#define MAX_PROFILE_NAME_LENGTH 8u
typedef struct pidProfile_s {
uint16_t yaw_lowpass_hz; // Additional yaw filter when yaw axis too noisy
uint16_t dterm_lowpass_hz; // Delta Filter in hz
uint16_t dterm_notch_hz; // Biquad dterm notch hz
uint16_t dterm_notch_cutoff; // Biquad dterm notch low cutoff
pidf_t pid[PID_ITEM_COUNT];
uint8_t dterm_filter_type; // Filter selection for dterm
uint8_t itermWindupPointPercent; // iterm windup threshold, percent motor saturation
uint16_t pidSumLimit;
uint16_t pidSumLimitYaw;
uint8_t pidAtMinThrottle; // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
uint8_t levelAngleLimit; // Max angle in degrees in level mode
uint8_t horizon_tilt_effect; // inclination factor for Horizon mode
uint8_t horizon_tilt_expert_mode; // OFF or ON
// Betaflight PID controller parameters
uint8_t antiGravityMode; // type of anti gravity method
uint16_t itermThrottleThreshold; // max allowed throttle delta before iterm accelerated in ms
uint16_t itermAcceleratorGain; // Iterm Accelerator Gain when itermThrottlethreshold is hit
uint16_t yawRateAccelLimit; // yaw accel limiter for deg/sec/ms
uint16_t rateAccelLimit; // accel limiter roll/pitch deg/sec/ms
uint16_t crash_dthreshold; // dterm crash value
uint16_t crash_gthreshold; // gyro crash value
uint16_t crash_setpoint_threshold; // setpoint must be below this value to detect crash, so flips and rolls are not interpreted as crashes
uint16_t crash_time; // ms
uint16_t crash_delay; // ms
uint8_t crash_recovery_angle; // degrees
uint8_t crash_recovery_rate; // degree/second
uint8_t feedForwardTransition; // Feed forward weight transition
uint16_t crash_limit_yaw; // limits yaw errorRate, so crashes don't cause huge throttle increase
uint16_t itermLimit;
uint16_t dterm_lowpass2_hz; // Extra PT1 Filter on D in hz
uint8_t crash_recovery; // off, on, on and beeps when it is in crash recovery mode
uint8_t throttle_boost; // how much should throttle be boosted during transient changes 0-100, 100 adds 10x hpf filtered throttle
uint8_t throttle_boost_cutoff; // Which cutoff frequency to use for throttle boost. higher cutoffs keep the boost on for shorter. Specified in hz.
uint8_t iterm_rotation; // rotates iterm to translate world errors to local coordinate system
uint8_t iterm_relax_type; // Specifies type of relax algorithm
uint8_t iterm_relax_cutoff; // This cutoff frequency specifies a low pass filter which predicts average response of the quad to setpoint
uint8_t iterm_relax; // Enable iterm suppression during stick input
uint8_t acro_trainer_angle_limit; // Acro trainer roll/pitch angle limit in degrees
uint8_t acro_trainer_debug_axis; // The axis for which record debugging values are captured 0=roll, 1=pitch
uint8_t acro_trainer_gain; // The strength of the limiting. Raising may reduce overshoot but also lead to oscillation around the angle limit
uint16_t acro_trainer_lookahead_ms; // The lookahead window in milliseconds used to reduce overshoot
uint8_t abs_control_gain; // How strongly should the absolute accumulated error be corrected for
uint8_t abs_control_limit; // Limit to the correction
uint8_t abs_control_error_limit; // Limit to the accumulated error
uint8_t abs_control_cutoff; // Cutoff frequency for path estimation in abs control
uint8_t dterm_filter2_type; // Filter selection for 2nd dterm
uint16_t dyn_lpf_dterm_min_hz;
uint16_t dyn_lpf_dterm_max_hz;
uint8_t launchControlMode; // Whether launch control is limited to pitch only (launch stand or top-mount) or all axes (on battery)
uint8_t launchControlThrottlePercent; // Throttle percentage to trigger launch for launch control
uint8_t launchControlAngleLimit; // Optional launch control angle limit (requires ACC)
uint8_t launchControlGain; // Iterm gain used while launch control is active
uint8_t launchControlAllowTriggerReset; // Controls trigger behavior and whether the trigger can be reset
uint8_t use_integrated_yaw; // Selects whether the yaw pidsum should integrated
uint8_t integrated_yaw_relax; // Specifies how much integrated yaw should be reduced to offset the drag based yaw component
uint8_t thrustLinearization; // Compensation factor for pid linearization
uint8_t d_min[XYZ_AXIS_COUNT]; // Minimum D value on each axis
uint8_t d_min_gain; // Gain factor for amount of gyro / setpoint activity required to boost D
uint8_t d_min_advance; // Percentage multiplier for setpoint input to boost algorithm
uint8_t motor_output_limit; // Upper limit of the motor output (percent)
int8_t auto_profile_cell_count; // Cell count for this profile to be used with if auto PID profile switching is used
uint8_t transient_throttle_limit; // Maximum DC component of throttle change to mix into throttle to prevent airmode mirroring noise
uint8_t ff_boost; // amount of high-pass filtered FF to add to FF, 100 means 100% added
char profileName[MAX_PROFILE_NAME_LENGTH + 1]; // Descriptive name for profile
uint8_t dyn_idle_min_rpm; // minimum motor speed enforced by the dynamic idle controller
uint8_t dyn_idle_p_gain; // P gain during active control of rpm
uint8_t dyn_idle_i_gain; // I gain during active control of rpm
uint8_t dyn_idle_d_gain; // D gain for corrections around rapid changes in rpm
uint8_t dyn_idle_max_increase; // limit on maximum possible increase in motor idle drive during active control
uint8_t ff_interpolate_sp; // Calculate FF from interpolated setpoint
uint8_t ff_max_rate_limit; // Maximum setpoint rate percentage for FF
uint8_t ff_smooth_factor; // Amount of smoothing for interpolated FF steps
uint8_t ff_jitter_factor; // Number of RC steps below which to attenuate FF
uint8_t dyn_lpf_curve_expo; // set the curve for dynamic dterm lowpass filter
uint8_t level_race_mode; // NFE race mode - when true pitch setpoint calcualtion is gyro based in level mode
uint8_t vbat_sag_compensation; // Reduce motor output by this percentage of the maximum compensation amount
uint8_t simplified_pids_mode;
uint8_t simplified_master_multiplier;
uint8_t simplified_roll_pitch_ratio;
uint8_t simplified_i_gain;
uint8_t simplified_pd_ratio;
uint8_t simplified_pd_gain;
uint8_t simplified_dmin_ratio;
uint8_t simplified_ff_gain;
uint8_t simplified_dterm_filter;
uint8_t simplified_dterm_filter_multiplier;
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);
typedef struct pidConfig_s {
uint8_t pid_process_denom; // Processing denominator for PID controller vs gyro sampling rate
uint8_t runaway_takeoff_prevention; // off, on - enables pidsum runaway disarm logic
uint16_t runaway_takeoff_deactivate_delay; // delay in ms for "in-flight" conditions before deactivation (successful flight)
uint8_t runaway_takeoff_deactivate_throttle; // minimum throttle percent required during deactivation phase
} pidConfig_t;
PG_DECLARE(pidConfig_t, pidConfig);
union rollAndPitchTrims_u;
void pidController(const pidProfile_t *pidProfile, timeUs_t currentTimeUs);
typedef struct pidAxisData_s {
float P;
float I;
float D;
float F;
float Sum;
} pidAxisData_t;
typedef union dtermLowpass_u {
pt1Filter_t pt1Filter;
biquadFilter_t biquadFilter;
} dtermLowpass_t;
typedef struct pidCoefficient_s {
float Kp;
float Ki;
float Kd;
float Kf;
} pidCoefficient_t;
typedef struct pidRuntime_s {
float dT;
float pidFrequency;
bool pidStabilisationEnabled;
float previousPidSetpoint[XYZ_AXIS_COUNT];
filterApplyFnPtr dtermNotchApplyFn;
biquadFilter_t dtermNotch[XYZ_AXIS_COUNT];
filterApplyFnPtr dtermLowpassApplyFn;
dtermLowpass_t dtermLowpass[XYZ_AXIS_COUNT];
filterApplyFnPtr dtermLowpass2ApplyFn;
dtermLowpass_t dtermLowpass2[XYZ_AXIS_COUNT];
filterApplyFnPtr ptermYawLowpassApplyFn;
pt1Filter_t ptermYawLowpass;
bool antiGravityEnabled;
uint8_t antiGravityMode;
pt1Filter_t antiGravityThrottleLpf;
pt1Filter_t antiGravitySmoothLpf;
float antiGravityOsdCutoff;
float antiGravityThrottleHpf;
float antiGravityPBoost;
float ffBoostFactor;
float itermAccelerator;
uint16_t itermAcceleratorGain;
float feedForwardTransition;
pidCoefficient_t pidCoefficient[XYZ_AXIS_COUNT];
float levelGain;
float horizonGain;
float horizonTransition;
float horizonCutoffDegrees;
float horizonFactorRatio;
uint8_t horizonTiltExpertMode;
float maxVelocity[XYZ_AXIS_COUNT];
float itermWindupPointInv;
bool inCrashRecoveryMode;
timeUs_t crashDetectedAtUs;
timeDelta_t crashTimeLimitUs;
timeDelta_t crashTimeDelayUs;
int32_t crashRecoveryAngleDeciDegrees;
float crashRecoveryRate;
float crashGyroThreshold;
float crashDtermThreshold;
float crashSetpointThreshold;
float crashLimitYaw;
float itermLimit;
bool itermRotation;
bool zeroThrottleItermReset;
bool levelRaceMode;
#ifdef USE_ITERM_RELAX
pt1Filter_t windupLpf[XYZ_AXIS_COUNT];
uint8_t itermRelax;
uint8_t itermRelaxType;
uint8_t itermRelaxCutoff;
#endif
#ifdef USE_ABSOLUTE_CONTROL
float acCutoff;
float acGain;
float acLimit;
float acErrorLimit;
pt1Filter_t acLpf[XYZ_AXIS_COUNT];
float oldSetpointCorrection[XYZ_AXIS_COUNT];
#endif
#ifdef USE_D_MIN
biquadFilter_t dMinRange[XYZ_AXIS_COUNT];
pt1Filter_t dMinLowpass[XYZ_AXIS_COUNT];
float dMinPercent[XYZ_AXIS_COUNT];
float dMinGyroGain;
float dMinSetpointGain;
#endif
#ifdef USE_AIRMODE_LPF
pt1Filter_t airmodeThrottleLpf1;
pt1Filter_t airmodeThrottleLpf2;
#endif
#ifdef USE_RC_SMOOTHING_FILTER
pt3Filter_t setpointDerivativePt3[XYZ_AXIS_COUNT];
bool setpointDerivativeLpfInitialized;
uint8_t rcSmoothingDebugAxis;
uint8_t rcSmoothingFilterType;
#endif // USE_RC_SMOOTHING_FILTER
#ifdef USE_ACRO_TRAINER
float acroTrainerAngleLimit;
float acroTrainerLookaheadTime;
uint8_t acroTrainerDebugAxis;
float acroTrainerGain;
bool acroTrainerActive;
int acroTrainerAxisState[2]; // only need roll and pitch
#endif
#ifdef USE_DYN_LPF
uint8_t dynLpfFilter;
uint16_t dynLpfMin;
uint16_t dynLpfMax;
uint8_t dynLpfCurveExpo;
#endif
#ifdef USE_LAUNCH_CONTROL
uint8_t launchControlMode;
uint8_t launchControlAngleLimit;
float launchControlKi;
#endif
#ifdef USE_INTEGRATED_YAW_CONTROL
bool useIntegratedYaw;
uint8_t integratedYawRelax;
#endif
#ifdef USE_THRUST_LINEARIZATION
float thrustLinearization;
float throttleCompensateAmount;
#endif
#ifdef USE_AIRMODE_LPF
float airmodeThrottleOffsetLimit;
#endif
#ifdef USE_INTERPOLATED_SP
ffInterpolationType_t ffFromInterpolatedSetpoint;
float ffSmoothFactor;
float ffJitterFactor;
#endif
} pidRuntime_t;
extern pidRuntime_t pidRuntime;
extern const char pidNames[];
extern pidAxisData_t pidData[3];
extern uint32_t targetPidLooptime;
extern float throttleBoost;
extern pt1Filter_t throttleLpf;
void pidResetIterm(void);
void pidStabilisationState(pidStabilisationState_e pidControllerState);
void pidSetItermAccelerator(float newItermAccelerator);
bool crashRecoveryModeActive(void);
void pidAcroTrainerInit(void);
void pidSetAcroTrainerState(bool newState);
void pidUpdateAntiGravityThrottleFilter(float throttle);
bool pidOsdAntiGravityActive(void);
bool pidOsdAntiGravityMode(void);
void pidSetAntiGravityState(bool newState);
bool pidAntiGravityEnabled(void);
#ifdef USE_THRUST_LINEARIZATION
float pidApplyThrustLinearization(float motorValue);
float pidCompensateThrustLinearization(float throttle);
#endif
#ifdef USE_AIRMODE_LPF
void pidUpdateAirmodeLpf(float currentOffset);
float pidGetAirmodeThrottleOffset();
#endif
#ifdef UNIT_TEST
#include "sensors/acceleration.h"
extern float axisError[XYZ_AXIS_COUNT];
void applyItermRelax(const int axis, const float iterm,
const float gyroRate, float *itermErrorRate, float *currentPidSetpoint);
void applyAbsoluteControl(const int axis, const float gyroRate, float *currentPidSetpoint, float *itermErrorRate);
void rotateItermAndAxisError();
float pidLevel(int axis, const pidProfile_t *pidProfile,
const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint);
float calcHorizonLevelStrength(void);
#endif
void dynLpfDTermUpdate(float throttle);
void pidSetItermReset(bool enabled);
float pidGetPreviousSetpoint(int axis);
float pidGetDT();
float pidGetPidFrequency();
float pidGetFfBoostFactor();
float pidGetFfSmoothFactor();
float pidGetFfJitterFactor();
float dynLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLpfMax, uint8_t expo);