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Minor PID controller improvement: use cache millis instead of calling… #11439

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Minor PID controller improvement: use cache millis instead of calling… #11439

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6 changes: 4 additions & 2 deletions src/main/flight/pid.c
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Original file line number Diff line number Diff line change
Expand Up @@ -170,6 +170,7 @@ static EXTENDED_FASTRAM pidControllerFnPtr pidControllerApplyFn;
static EXTENDED_FASTRAM filterApplyFnPtr dTermLpfFilterApplyFn;
static EXTENDED_FASTRAM bool restartAngleHoldMode = true;
static EXTENDED_FASTRAM bool angleHoldIsLevel = false;
static EXTENDED_FASTRAM timeMs_t pidLoopNowMs;

#define FIXED_WING_LEVEL_TRIM_MAX_ANGLE 10.0f // Max angle auto trimming can demand
#define FIXED_WING_LEVEL_TRIM_DIVIDER 50.0f
Expand Down Expand Up @@ -820,7 +821,7 @@ static void iTermLockApply(pidState_t *pidState, const float rateTarget, const f

//When abs of rate target is above 20% of max rate, we start tracking time
if (fabsf(rateTarget) > maxRate * 0.2f) {
pidState->attenuation.targetOverThresholdTimeMs = millis();
pidState->attenuation.targetOverThresholdTimeMs = pidLoopNowMs;
}

//If error is below threshold, we no longer track time for lock mechanism
Expand All @@ -833,7 +834,7 @@ static void iTermLockApply(pidState_t *pidState, const float rateTarget, const f
* - dampingFactor
* - for 500ms (fw_iterm_lock_time_max_ms) force 0 if error is above threshold
*/
pidState->attenuation.aI = MIN(dampingFactor, (errorThresholdReached && (millis() - pidState->attenuation.targetOverThresholdTimeMs) < pidProfile()->fwItermLockTimeMaxMs) ? 0.0f : 1.0f);
pidState->attenuation.aI = MIN(dampingFactor, (errorThresholdReached && (pidLoopNowMs - pidState->attenuation.targetOverThresholdTimeMs) < pidProfile()->fwItermLockTimeMaxMs) ? 0.0f : 1.0f);

//P & D damping factors are always the same and based on current damping factor
pidState->attenuation.aP = dampingFactor;
Expand Down Expand Up @@ -1222,6 +1223,7 @@ void updateAngleHold(float *angleTarget, uint8_t axis)
void FAST_CODE pidController(float dT)
{
const float dT_inv = 1.0f / dT;
pidLoopNowMs = millis();

if (!pidFiltersConfigured) {
return;
Expand Down
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