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Fix default PID DENOM #12509

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merged 5 commits into from
Dec 4, 2023
Merged

Fix default PID DENOM #12509

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74de2a4
Set default PID DENOM
haslinghuis Mar 11, 2023
3fae32e
Fixes after Karate review
haslinghuis Aug 6, 2023
8c9fe4b
Fixes after Karate review v2
haslinghuis Aug 6, 2023
cd5a01e
Use gyro.sampleRateHz
haslinghuis Aug 7, 2023
c5c2620
Fixes after discussion
haslinghuis Dec 4, 2023
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14 changes: 9 additions & 5 deletions src/main/config/config.c
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Original file line number Diff line number Diff line change
Expand Up @@ -673,15 +673,19 @@ void validateAndFixGyroConfig(void)
// check for looptime restrictions based on motor protocol. Motor times have safety margin
float motorUpdateRestriction;

#if defined(STM32F4) || defined(STM32G4)
#if defined(USE_DSHOT) && defined(USE_PID_DENOM_CHECK)
/* If bidirectional DSHOT is being used on an F4 or G4 then force DSHOT300. The motor update restrictions then applied
* will automatically consider the loop time and adjust pid_process_denom appropriately
*/
if (motorConfig()->dev.useDshotTelemetry && (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_DSHOT600)) {
motorConfigMutable()->dev.motorPwmProtocol = PWM_TYPE_DSHOT300;
if (motorConfig()->dev.useDshotTelemetry) {
if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_DSHOT600) {
motorConfigMutable()->dev.motorPwmProtocol = PWM_TYPE_DSHOT300;
}
if (gyro.sampleRateHz > 4000) {
pidConfigMutable()->pid_process_denom = 2;
}
}
#endif

#endif // USE_DSHOT && USE_PID_DENOM_CHECK
switch (motorConfig()->dev.motorPwmProtocol) {
case PWM_TYPE_STANDARD:
motorUpdateRestriction = 1.0f / BRUSHLESS_MOTORS_PWM_RATE;
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6 changes: 1 addition & 5 deletions src/main/flight/pid.c
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Expand Up @@ -90,13 +90,9 @@ pt1Filter_t throttleLpf;

PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 3);

#if !defined(DEFAULT_PID_PROCESS_DENOM)
#if defined(STM32F411xE)
#define DEFAULT_PID_PROCESS_DENOM 2
#else
#ifndef DEFAULT_PID_PROCESS_DENOM
#define DEFAULT_PID_PROCESS_DENOM 1
#endif
#endif

#ifdef USE_RUNAWAY_TAKEOFF
PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
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2 changes: 2 additions & 0 deletions src/main/target/STM32F405/target.h
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Expand Up @@ -79,4 +79,6 @@

#define USE_EXTI

#define USE_PID_DENOM_CHECK

#define FLASH_PAGE_SIZE ((uint32_t)0x4000) // 16K sectors
2 changes: 2 additions & 0 deletions src/main/target/STM32F411/target.h
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Expand Up @@ -78,4 +78,6 @@

#define USE_EXTI

#define USE_PID_DENOM_CHECK

#define FLASH_PAGE_SIZE ((uint32_t)0x4000) // 16K sectors
4 changes: 4 additions & 0 deletions src/main/target/STM32G47X/target.h
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Expand Up @@ -72,5 +72,9 @@
#define USE_ESCSERIAL

#define USE_ADC

#define USE_EXTI

#define USE_PID_DENOM_CHECK

#define USE_TIMER_UP_CONFIG