philip/MDH-UAV-Control-System
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PID take away antiwindup protection

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This commit is contained in:
johan9107 2016-11-01 10:03:35 +01:00
parent 40454ae608
commit c6d50810cb
1 changed files with 14 additions and 14 deletions
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28
UAV-ControlSystem/src/Flight/pid.c
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@ -22,7 +22,7 @@
#define PTERM_SCALE 0.032029f /*P-term used as a scale value to the PID controller*/
#define ITERM_SCALE 0.0012f /*I-term used as a scale value to the PID controller*/
#define ITERM_SCALE 0.0012f /*I-term used as a scale value to the PID controller*/
#define DTERM_SCALE 0.000529f /*D-term used as a scale value to the PID controller*/
#define RADIO_RANGE 500 /*Radio range input*/
@ -31,7 +31,7 @@
#define GYRO_RANGE 720 /*Determines the maximum rotational limit (limits the rc input)*/
#define COMPASS_RANGE 180 /*Determines the maximum compass limit (limits the rc input)*/
#define PID_MAX_I 256 /*Constrains ITerm*/
#define PID_MAX_I 256 /*Constrains ITerm*/
#define PID_MAX_D 512 /*Constrains DTerm*/
/*Struct that belongs to a certain PID controller*/
@ -315,14 +315,14 @@ void pidUAVcore(pidProfile_t *pidProfile, pidProfileBuff_t *pidProfileBuff,
ITerm = constrainf(ITerm, -(int)PID_MAX_I, (int)PID_MAX_I);
// Anti windup protection
if (motorLimitReached)
{
ITerm = constrainf(ITerm, -pidProfileBuff->ITermLimit[axis], pidProfileBuff->ITermLimit[axis]);
}
else
{
pidProfileBuff->ITermLimit[axis] = abs(ITerm);
}
// if (motorLimitReached)
// {
// ITerm = constrainf(ITerm, -pidProfileBuff->ITermLimit[axis], pidProfileBuff->ITermLimit[axis]);
// }
// else
// {
// pidProfileBuff->ITermLimit[axis] = abs(ITerm);
// }
pidProfileBuff->lastITerm[axis] = ITerm;
@ -631,10 +631,10 @@ void pidEproom(void)
PidProfile[PID_ID_ACCELEROMETER].PIDweight[PITCH] = 2;
PidProfile[PID_ID_ACCELEROMETER].PIDweight[YAW] = 100;
PidProfileBuff[PID_ID_GYRO].dT = SystemTasks[TASK_GYROPID].desiredPeriod/1000000; //<2F>NDRA TILL SEKUNDER inte ms
PidProfileBuff[PID_ID_ACCELEROMETER].dT = SystemTasks[TASK_ACCELEROMETER].desiredPeriod/1000000;
PidProfileBuff[PID_ID_COMPASS].dT = SystemTasks[TASK_COMPASS].desiredPeriod/1000000;
PidProfileBuff[PID_ID_BAROMETER].dT = SystemTasks[TASK_BARO].desiredPeriod/1000000;
PidProfileBuff[PID_ID_GYRO].dT = SystemTasks[TASK_GYROPID].desiredPeriod/1000; //<2F>NDRA TILL SEKUNDER inte ms
PidProfileBuff[PID_ID_ACCELEROMETER].dT = SystemTasks[TASK_ACCELEROMETER].desiredPeriod/1000;
PidProfileBuff[PID_ID_COMPASS].dT = SystemTasks[TASK_COMPASS].desiredPeriod/1000;
PidProfileBuff[PID_ID_BAROMETER].dT = SystemTasks[TASK_BARO].desiredPeriod/1000;