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Bugfix & flapper platform defaults updates #1409

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merged 2 commits into from
Sep 9, 2024
Merged

Bugfix & flapper platform defaults updates #1409

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b152061
Fix PID_FILTER_ALL not working
matejkarasek Aug 23, 2024
253829a
Flapper default gains and filters updated
matejkarasek Aug 27, 2024
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26 changes: 13 additions & 13 deletions src/platform/interface/platform_defaults_flapper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -73,21 +73,21 @@
#define PID_PITCH_KFF 0.0
#define PID_PITCH_INTEGRATION_LIMIT 20.0

#define PID_YAW_KP 30.0
#define PID_YAW_KP 8.0
#define PID_YAW_KI 0.0
#define PID_YAW_KD 1.0
#define PID_YAW_KD 0.35
#define PID_YAW_KFF 0.0
#define PID_YAW_INTEGRATION_LIMIT 360.0

#define PID_VEL_X_KP 25.0f
#define PID_VEL_X_KP 15.0f
#define PID_VEL_X_KI 1.0f
#define PID_VEL_X_KD 0.0f
#define PID_VEL_X_KFF 10.0f
#define PID_VEL_X_KFF 15.0f

#define PID_VEL_Y_KP 15.0f
#define PID_VEL_Y_KP 10.0f
#define PID_VEL_Y_KI 1.0f
#define PID_VEL_Y_KD 0.0f
#define PID_VEL_Y_KFF 5.0f
#define PID_VEL_Y_KFF 8.0f

#define PID_VEL_Z_KP 12.5f
#define PID_VEL_Z_KI 0.5f
Expand All @@ -99,8 +99,8 @@
#define PID_VEL_Z_KD_BARO_Z_HOLD 1.0f
#define PID_VEL_Z_KFF_BARO_Z_HOLD 0.0f

#define PID_VEL_ROLL_MAX 20.0f
#define PID_VEL_PITCH_MAX 20.0f
#define PID_VEL_ROLL_MAX 30.0f
#define PID_VEL_PITCH_MAX 30.0f
#define PID_VEL_THRUST_BASE 40000.0f
#define PID_VEL_THRUST_BASE_BARO_Z_HOLD 40000.0f
#define PID_VEL_THRUST_MIN 20000.0f
Expand All @@ -120,14 +120,14 @@
#define PID_POS_Z_KD 0.0f
#define PID_POS_Z_KFF 0.0f

#define PID_POS_VEL_X_MAX 1.0f
#define PID_POS_VEL_Y_MAX 1.0f
#define PID_POS_VEL_X_MAX 2.0f
#define PID_POS_VEL_Y_MAX 2.0f
#define PID_POS_VEL_Z_MAX 1.0f

// PID filter configuration
#define ATTITUDE_ROLL_RATE_LPF_CUTOFF_FREQ 12.5f
#define ATTITUDE_PITCH_RATE_LPF_CUTOFF_FREQ 12.5f
#define ATTITUDE_YAW_RATE_LPF_CUTOFF_FREQ 3.0f
#define ATTITUDE_ROLL_RATE_LPF_CUTOFF_FREQ 20.0f
#define ATTITUDE_PITCH_RATE_LPF_CUTOFF_FREQ 20.0f
#define ATTITUDE_YAW_RATE_LPF_CUTOFF_FREQ 5.0f
#define ATTITUDE_RATE_LPF_ENABLE true
#define PID_VEL_XY_FILT_CUTOFF 10.0f
#define PID_VEL_Z_FILT_CUTOFF 10.0f
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1 change: 1 addition & 0 deletions src/utils/src/pid.c
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@
#include "num.h"
#include <math.h>
#include <float.h>
#include "autoconf.h"

void pidInit(PidObject* pid, const float desired, const float kp,
const float ki, const float kd, const float kff, const float dt,
Expand Down