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Angle and Horizon Mode improvements (#12231)

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* Angle and Horizon Update for 4.5

* BugFix FF noise Angle Mode on yaw and in level _race mode

* use time constant in ms for angle feedforward smoothing

* refactor to remove unnecessary definition

---------

Co-authored-by: ChrisRosser <chrisrosser91@gmail.com>
This commit is contained in:
ctzsnooze 2023-03-15 09:46:24 +11:00 • committed by GitHub
parent d6ed53ecdf
commit 241e9a9b94
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GPG key ID: 4AEE18F83AFDEB23
16 changed files with 482 additions and 271 deletions
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41
src/main/cms/cms_menu_imu.c
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@ -516,10 +516,14 @@ static CMS_Menu cmsx_menuLaunchControl = {
};
#endif
static uint8_t cmsx_angleStrength;
static uint8_t cmsx_angleP;
static uint8_t cmsx_angleFF;
static uint8_t cmsx_angleLimit;
static uint8_t cmsx_horizonStrength;
static uint8_t cmsx_horizonTransition;
static uint8_t cmsx_levelAngleLimit;
static uint8_t cmsx_horizonLimitSticks;
static uint8_t cmsx_horizonLimitDegrees;
static uint8_t cmsx_throttleBoost;
static uint8_t cmsx_thrustLinearization;
static uint8_t cmsx_antiGravityGain;
@ -560,10 +564,13 @@ static const void *cmsx_profileOtherOnEnter(displayPort_t *pDisp)
const pidProfile_t *pidProfile = pidProfiles(pidProfileIndex);
cmsx_angleStrength = pidProfile->pid[PID_LEVEL].P;
cmsx_horizonStrength = pidProfile->pid[PID_LEVEL].I;
cmsx_horizonTransition = pidProfile->pid[PID_LEVEL].D;
cmsx_levelAngleLimit = pidProfile->levelAngleLimit;
cmsx_angleP = pidProfile->pid[PID_LEVEL].P;
cmsx_angleFF = pidProfile->pid[PID_LEVEL].F;
cmsx_angleLimit = pidProfile->angle_limit;
cmsx_horizonStrength = pidProfile->pid[PID_LEVEL].I;
cmsx_horizonLimitSticks = pidProfile->pid[PID_LEVEL].D;
cmsx_horizonLimitDegrees = pidProfile->horizon_limit_degrees;
cmsx_antiGravityGain = pidProfile->anti_gravity_gain;
@ -611,10 +618,13 @@ static const void *cmsx_profileOtherOnExit(displayPort_t *pDisp, const OSD_Entry
pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
pidInitConfig(currentPidProfile);
pidProfile->pid[PID_LEVEL].P = cmsx_angleStrength;
pidProfile->pid[PID_LEVEL].P = cmsx_angleP;
pidProfile->pid[PID_LEVEL].F = cmsx_angleFF;
pidProfile->angle_limit = cmsx_angleLimit;
pidProfile->pid[PID_LEVEL].I = cmsx_horizonStrength;
pidProfile->pid[PID_LEVEL].D = cmsx_horizonTransition;
pidProfile->levelAngleLimit = cmsx_levelAngleLimit;
pidProfile->pid[PID_LEVEL].D = cmsx_horizonLimitSticks;
pidProfile->horizon_limit_degrees = cmsx_horizonLimitDegrees;
pidProfile->anti_gravity_gain = cmsx_antiGravityGain;
@ -665,10 +675,13 @@ static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "FF JITTER", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_feedforward_jitter_factor, 0, 20, 1 } },
{ "FF BOOST", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_feedforward_boost, 0, 50, 1 } },
#endif
{ "ANGLE STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleStrength, 0, 200, 1 } },
{ "HORZN STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonStrength, 0, 200, 1 } },
{ "HORZN TRS", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonTransition, 0, 200, 1 } },
{ "ANGLE LIMIT", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_levelAngleLimit, 10, 90, 1 } },
{ "ANGLE P", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleP, 0, 200, 1 } },
{ "ANGLE FF", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleFF, 0, 200, 1 } },
{ "ANGLE LIMIT", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleLimit, 10, 90, 1 } },
{ "HORZN STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonStrength, 0, 100, 1 } },
{ "HORZN LIM_STK", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonLimitSticks, 10, 200, 1 } },
{ "HORZN LIM_DEG", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonLimitDegrees, 10, 250, 1 } },
{ "AG GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_antiGravityGain, ITERM_ACCELERATOR_GAIN_OFF, ITERM_ACCELERATOR_GAIN_MAX, 1, 100 } },
#ifdef USE_THROTTLE_BOOST