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Change simplified tuning filter slider calculation

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Add dterm part

Remove unneeded resets

Save lowpass_type with simplified tuning
This commit is contained in:
Mark Haslinghuis 2021-10-30 01:47:58 +02:00
parent daf202e8c3
commit 1fdaaa3bf8
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GPG key ID: 198B0F616296A584
1 changed files with 40 additions and 12 deletions
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52
src/main/config/simplified_tuning.c
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@ -65,22 +65,50 @@ static void calculateNewPidValues(pidProfile_t *pidProfile)
static void calculateNewDTermFilterValues(pidProfile_t *pidProfile)
{
pidProfile->dterm_lpf1_dyn_min_hz = constrain(DTERM_LPF1_DYN_MIN_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
pidProfile->dterm_lpf1_dyn_max_hz = constrain(DTERM_LPF1_DYN_MAX_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
pidProfile->dterm_lpf1_static_hz = constrain(DTERM_LPF1_DYN_MIN_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
pidProfile->dterm_lpf2_static_hz = constrain(DTERM_LPF2_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, LPF_MAX_HZ);
pidProfile->dterm_lpf1_type = FILTER_PT1;
pidProfile->dterm_lpf2_type = FILTER_PT1;
if (pidProfile->dterm_lpf1_dyn_min_hz) {
pidProfile->dterm_lpf1_dyn_min_hz = constrain(DTERM_LPF1_DYN_MIN_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
pidProfile->dterm_lpf1_dyn_max_hz = constrain(DTERM_LPF1_DYN_MAX_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
}
if (pidProfile->dterm_lpf1_static_hz) {
pidProfile->dterm_lpf1_static_hz = constrain(DTERM_LPF1_DYN_MIN_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
}
if (pidProfile->dterm_lpf2_static_hz) {
pidProfile->dterm_lpf2_static_hz = constrain(DTERM_LPF2_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, LPF_MAX_HZ);
}
if (!pidProfile->dterm_lpf1_type) {
pidProfile->dterm_lpf1_type = FILTER_PT1;
}
if (!pidProfile->dterm_lpf2_type) {
pidProfile->dterm_lpf2_type = FILTER_PT1;
}
}
static void calculateNewGyroFilterValues()
{
gyroConfigMutable()->gyro_lpf1_dyn_min_hz = constrain(GYRO_LPF1_DYN_MIN_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
gyroConfigMutable()->gyro_lpf1_dyn_max_hz = constrain(GYRO_LPF1_DYN_MAX_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
gyroConfigMutable()->gyro_lpf1_static_hz = constrain(GYRO_LPF1_DYN_MIN_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
gyroConfigMutable()->gyro_lpf2_static_hz = constrain(GYRO_LPF2_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, LPF_MAX_HZ);
gyroConfigMutable()->gyro_lpf1_type = FILTER_PT1;
gyroConfigMutable()->gyro_lpf2_type = FILTER_PT1;
if (gyroConfigMutable()->gyro_lpf1_dyn_min_hz) {
gyroConfigMutable()->gyro_lpf1_dyn_min_hz = constrain(GYRO_LPF1_DYN_MIN_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
gyroConfigMutable()->gyro_lpf1_dyn_max_hz = constrain(GYRO_LPF1_DYN_MAX_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
}
if (gyroConfigMutable()->gyro_lpf1_static_hz) {
gyroConfigMutable()->gyro_lpf1_static_hz = constrain(GYRO_LPF1_DYN_MIN_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
}
if (gyroConfigMutable()->gyro_lpf2_static_hz) {
gyroConfigMutable()->gyro_lpf2_static_hz = constrain(GYRO_LPF2_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, LPF_MAX_HZ);
}
if (!gyroConfigMutable()->gyro_lpf1_type) {
gyroConfigMutable()->gyro_lpf1_type = FILTER_PT1;
}
if (!gyroConfigMutable()->gyro_lpf2_type) {
gyroConfigMutable()->gyro_lpf2_type = FILTER_PT1;
}
}
void applySimplifiedTuning(pidProfile_t *pidProfile)