Add PID and FWBA Control #41
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…fs-zeropilot-3.5b into feature/am/PID updated PID controller to use the up to date rudder mixing code
Var names, formatting, file names, etc.
Keeping pid calc files separate to allow general use of pid.
- Corrected mistake in accidentally clamping absolute position (pid_output) instead of pid_control_effort. - Added some comments.
avancruy
reviewed
Jul 10, 2025
| outputToMotor(THROTTLE, motorOutputs.throttle); | ||
| outputToMotor(FLAP_ANGLE, motorOutputs.flapAngle); | ||
| outputToMotor(STEERING, motorOutputs.yaw); | ||
| signedYaw = motorOutputs.roll-50; |
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seems to be only used here, maybe better as local variable?
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Issue with constructor (?) tryna fix.
- Fixed lint check's case style errors - Made rollPID & pitchPID into ptrs and added ptr stuff wherever they're used.
- Removed redundant vars for roll & pitch i.e. PID consts and tau. Note: tau is updated in an alg. whenever KD is. - Fixed constructor for roll and pitch PID. - Linked setters for roll & pitch to setter in pid class. - Added destructors.
avancruy
reviewed
Jul 17, 2025
| motorOutputs.yaw = 0; | ||
| } | ||
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| outputToMotor(YAW, (100-motorOutputs.yaw)*ifYawMotorsInvert+motorOutputs.yaw*(ifYawMotorsInvert-1)+yawmotorsTrim); |
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inverted logic is already in outputToMotor()
avancruy
reviewed
Jul 17, 2025
SuperMK15
requested changes
Jul 27, 2025
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| void MotorControl::set(uint32_t percent) { | ||
| percent = percent > 100 ? 100 : percent; | ||
| percent = (percent < 0) ? 0 : (percent > 100 ? 100 : percent); |
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It is uint32_t so cannot be < 0 so this check is not needed.
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- Integral calculation in pid.cpp was missing multiplication with time. Corrected now. - Removed dynamic alloc - Changed file names to correct misspelling (lol) - Changed class names for clarity - Moved function bodies to .cpp files - Roll integral, pitch integral, and output limits changed to const static var - Added noexcept keyword to some functions that don't throw exceptions for optimization.
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Added AM_pid header and source and pid_mapping header and source files. Left actual values like integral limits, output limits and PID constants as placeholder values for now.