fix: default position PID parameters

dzid26 · May 18, 2024 · 0bf7587 · 0bf7587
1 parent 95df7d4
commit 0bf7587
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Showing 3 changed files with 15 additions and 2 deletions.
diff --git a/firmware/platformio.ini b/firmware/platformio.ini
@@ -18,7 +18,7 @@ platform = ststm32@16
 upload_protocol = stlink
 
 build_flags =
-  -D VERSION=3000
+  -D VERSION=3002
   -D STM32F10X_MD
   -D USE_STDPERIPH_DRIVER
   -W -Wall -pedantic -std=c99

diff --git a/firmware/src/APP/upgrade.c b/firmware/src/APP/upgrade.c
@@ -24,6 +24,19 @@ static void save_current_fw_version(void){
 
 void app_upgrade_begin(void){
 	uint16_t version_upgrade;
+
+	version_upgrade = 3002U;
+	if((read_previous_fw_version() < version_upgrade) && (read_current_fw_version() >= version_upgrade)){  // cppcheck-suppress  knownConditionTrueFalse
+		if (nvmMirror.pPID.Kp < 0.1f){
+			nvmMirror.pPID.Kp = 0.5f;
+		}
+		if (nvmMirror.pPID.Kd < 0.1f){
+			nvmMirror.pPID.Kd = 1.0f;
+		}
+
+		nvmWriteConfParms();
+	}
+
 	//upgrade v2 -> v3
 	version_upgrade = 3000U;
 	if((read_previous_fw_version() < version_upgrade) && (read_current_fw_version() >= version_upgrade)){  // cppcheck-suppress  knownConditionTrueFalse

diff --git a/firmware/src/BSP/nonvolatile.c b/firmware/src/BSP/nonvolatile.c
@@ -131,7 +131,7 @@ void validateAndInitNVMParams(void)
 	if (nvmMirror.systemParams.parametersValid != valid){ //systemParams invalid
 		nvmMirror.systemParams.fw_version = VERSION;
 
-		nvmMirror.pPID.Kp = .005f;  nvmMirror.pPID.Ki = .0002f;  nvmMirror.pPID.Kd = 0.0f;
+		nvmMirror.pPID.Kp = .5f;  nvmMirror.pPID.Ki = .0002f;  nvmMirror.pPID.Kd = 1.0f;  //range: 0-7.99 when CTRL_PID_SCALING=4096
 		nvmMirror.vPID.Kp = 2.0f;   nvmMirror.vPID.Ki = 1.0f; 	 nvmMirror.vPID.Kd = 1.0f;
 
 		nvmMirror.systemParams.controllerMode = CTRL_TORQUE;  //unused