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remove smart_feedforward

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This commit is contained in:
Thorsten Laux 2019-03-08 06:49:09 +01:00
parent 37dd396593
commit 11c21368c8
6 changed files with 1 additions and 43 deletions
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30
src/main/flight/pid.c
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@ -127,7 +127,7 @@ static FAST_RAM_ZERO_INIT float airmodeThrottleOffsetLimit;
#define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 9);
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 10);
void resetPidProfile(pidProfile_t *pidProfile)
{
@ -168,7 +168,6 @@ void resetPidProfile(pidProfile_t *pidProfile)
.throttle_boost = 5,
.throttle_boost_cutoff = 15,
.iterm_rotation = false,
.smart_feedforward = false,
.iterm_relax = ITERM_RELAX_RP,
.iterm_relax_cutoff = ITERM_RELAX_CUTOFF_DEFAULT,
.iterm_relax_type = ITERM_RELAX_SETPOINT,
@ -501,10 +500,6 @@ pt1Filter_t throttleLpf;
#endif
static FAST_RAM_ZERO_INIT bool itermRotation;
#if defined(USE_SMART_FEEDFORWARD)
static FAST_RAM_ZERO_INIT bool smartFeedforward;
#endif
#ifdef USE_LAUNCH_CONTROL
static FAST_RAM_ZERO_INIT uint8_t launchControlMode;
static FAST_RAM_ZERO_INIT uint8_t launchControlAngleLimit;
@ -619,10 +614,6 @@ void pidInitConfig(const pidProfile_t *pidProfile)
antiGravityOsdCutoff += ((itermAcceleratorGain - 1000) / 1000.0f) * 0.25f;
}
#if defined(USE_SMART_FEEDFORWARD)
smartFeedforward = pidProfile->smart_feedforward;
#endif
#if defined(USE_ITERM_RELAX)
itermRelax = pidProfile->iterm_relax;
itermRelaxType = pidProfile->iterm_relax_type;
@ -1057,21 +1048,6 @@ float FAST_CODE applyRcSmoothingDerivativeFilter(int axis, float pidSetpointDelt
}
#endif // USE_RC_SMOOTHING_FILTER
#ifdef USE_SMART_FEEDFORWARD
void FAST_CODE applySmartFeedforward(int axis)
{
if (smartFeedforward) {
if (pidData[axis].P * pidData[axis].F > 0) {
if (fabsf(pidData[axis].F) > fabsf(pidData[axis].P)) {
pidData[axis].P = 0;
} else {
pidData[axis].F = 0;
}
}
}
}
#endif // USE_SMART_FEEDFORWARD
#if defined(USE_ITERM_RELAX)
#if defined(USE_ABSOLUTE_CONTROL)
STATIC_UNIT_TESTED void applyAbsoluteControl(const int axis, const float gyroRate, float *currentPidSetpoint, float *itermErrorRate)
@ -1422,10 +1398,6 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
// no transition if feedForwardTransition == 0
float transition = feedForwardTransition > 0 ? MIN(1.f, getRcDeflectionAbs(axis) * feedForwardTransition) : 1;
pidData[axis].F = feedforwardGain * transition * pidSetpointDelta * pidFrequency;
#if defined(USE_SMART_FEEDFORWARD)
applySmartFeedforward(axis);
#endif
} else {
pidData[axis].F = 0;
}