simpleBGC engine_drv

error

PID  pid.c

CCR1

CCR2

CCR3

TIM8_channel_1 占空比

pointingCmd   -  sensors.margAttitude500Hz

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angle=testPhase = -1.0f * D2R

phase [3]

roll

pitch

yaw

MAX_CNT  (PWM_PERIOD * 8 / 10)  =800

TIM8->CCR1 = rollPhase[0];

maxCnt[ROLL] = 0;minCnt[ROLL] = PWM_PERIOD + 1;

cnt

 TIM1_UP_IRQHandler

TIM8->CNT = timer4timer5deadTimeDelay（80） + 5 + PWM_PERIOD * 2 / 3 （666）   =751

TIM1->CNT = timer4timer5deadTimeDelay + 3 + PWM_PERIOD / 3;    = 416

TIM4->CNT = timer4timer5deadTimeDelay  =80

TIM5->CNT  

cnt 作用make sure there is enough time to make all changes

setPIDintegralError

zeroPIDintegralError

setPIDstates

zeroPIDstates

iTerm += error * deltaT

 ANGULAR？    return(P * error     +      I * PIDparameters->iTerm +      D * dAverage);   else    P * PIDparameters->B * command  +    I * PIDparameters->iTerm      +    D * dAverage          -    P * state);//计算增量

dTerm = (error - lastDcalcValue) / deltaT

dTermFiltered-> dAverage

eepromConfig

version

accelTCBiasSlope[3]

accelTCBiasIntercept[3];

gyroTCBiasSlope[3];

gyroTCBiasIntercept[3]

magBias[3]

accelCutoff

uint8_t dlpfSetting

midCommand

    uint8_t     float   

rollAutoPanEnabled;

pitchAutoPanEnabled;

yawAutoPanEnabled;

imuOrientation

rollMotorPoles

pitchMotorPoles

yawMotorPoles

rateLimit

rollRateCmdInput

pitchRateCmdInput

yawRateCmdInput

PIDdata_t PID[NUMBER_OF_PIDS]

 iTerm

 windupGuard

lastDcalcValue

lastDterm

lastLastDterm

dErrorCalc

type

initPID

autoPan

pidCmd[YAW]

motorPos

step = MOTORPOS2SETPNT （0.35）* motorPos

stepSmooth = (stepSmooth * (AUTOPANSMOOTH（40） - 1.0f) + step)     /   AUTOPANSMOOTH

return (setpoint -= stepSmooth)（滞后滤波=平滑）

computeMotorCommands

drv_pwmMotors

updateCounter

setupPWMIrq

TIM8_UP_IRQHandler

TIM1_UP_IRQHandler

TIM5_IRQHandler

timerChannelConfig

timerPWMadvancedConfig

timerPWMgeneralConfig

 setPWM

 setPWMFastTable

setPWMData

 limitYawPWM

activateIRQ

forceMotorUpdate

pwmMotorDriverInit

step = MOTORPOS2SETPNT * motorPos

stepSmooth = (stepSmooth * (AUTOPANSMOOTH - 1.0f) + step)     /   AUTOPANSMOOTH

return (setpoint -= stepSmooth)