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update to AlexK's PID controller #19

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update to AlexK's PID controller #19

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12 changes: 9 additions & 3 deletions MultiWii.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1462,8 +1462,14 @@ void loop () {
#elif PID_CONTROLLER == 2 // alexK
#define GYRO_I_MAX 256
#define ACC_I_MAX 256
prop = min(max(abs(rcCommand[PITCH]),abs(rcCommand[ROLL])),500); // range [0;500]

if(f.HORIZON_MODE){
prop = min(max(abs(rcCommand[PITCH]),abs(rcCommand[ROLL])),500); // range [0;500]
// Using Level D as a Sensitivity for Horizon. 0 more level to 255 more rate.
// Horizon level strength is turned down proportionally to stick travel
// With default value of 100, last 20% of stick travel is without self leveling.
// For more rate mode increase D and slower flips and rolls will be possible
prop = constrain(100 - (prop * conf.pid[PIDLEVEL].D8 / 400), 0, 100);
}
//----------PID controller----------
for(axis=0;axis<3;axis++) {
//-----Get the desired angle rate depending on flight mode
Expand All @@ -1478,7 +1484,7 @@ void loop () {
AngleRateTmp = ((int32_t) (conf.rollPitchRate + 27) * rcCommand[axis]) >> 4;
if (f.HORIZON_MODE) {
//mix up angle error to desired AngleRateTmp to add a little auto-level feel
AngleRateTmp += ((int32_t) errorAngle * conf.pid[PIDLEVEL].I8)>>8;
AngleRateTmp += ((int32_t) errorAngle * conf.pid[PIDLEVEL].I8 * prop / 100) >> 4;
}
} else {//it's the ANGLE mode - control is angle based, so control loop is needed
AngleRateTmp = ((int32_t) errorAngle * conf.pid[PIDLEVEL].P8)>>4;
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