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Change Filter lowpass Frequency to int

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borisbstyle 2016-04-30 23:19:00 +02:00
parent 3dd6424f34
commit 29865701da
5 changed files with 12 additions and 13 deletions
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9
src/main/config/config.c
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@ -134,7 +134,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0; static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile; controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 133; static const uint8_t EEPROM_CONF_VERSION = 134;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims) static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{ {
@ -177,12 +177,11 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->D8[PIDVEL] = 75; pidProfile->D8[PIDVEL] = 75;
pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX; pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
pidProfile->yaw_lpf_hz = 70.0f; pidProfile->yaw_lpf_hz = 100;
pidProfile->dterm_differentiator = 1;
pidProfile->rollPitchItermResetRate = 200; pidProfile->rollPitchItermResetRate = 200;
pidProfile->rollPitchItermResetAlways = 0; pidProfile->rollPitchItermResetAlways = 0;
pidProfile->yawItermResetRate = 50; pidProfile->yawItermResetRate = 50;
pidProfile->dterm_lpf_hz = 70.0f; // filtering ON by default pidProfile->dterm_lpf_hz = 70; // filtering ON by default
pidProfile->H_sensitivity = 75; // TODO - Cleanup during next EEPROM changes pidProfile->H_sensitivity = 75; // TODO - Cleanup during next EEPROM changes
@ -403,7 +402,7 @@ static void resetConf(void)
masterConfig.dcm_ki = 0; // 0.003 * 10000 masterConfig.dcm_ki = 0; // 0.003 * 10000
masterConfig.gyro_lpf = 0; // 256HZ default masterConfig.gyro_lpf = 0; // 256HZ default
masterConfig.gyro_sync_denom = 8; masterConfig.gyro_sync_denom = 8;
masterConfig.gyro_soft_lpf_hz = 80.0f; masterConfig.gyro_soft_lpf_hz = 80;
masterConfig.pid_process_denom = 1; masterConfig.pid_process_denom = 1;

4
src/main/config/config_master.h
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@ -56,9 +56,9 @@ typedef struct master_t {
int8_t yaw_control_direction; // change control direction of yaw (inverted, normal) int8_t yaw_control_direction; // change control direction of yaw (inverted, normal)
uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
uint8_t acc_for_fast_looptime; // shorten acc processing time by using 1 out of 9 samples. For combination with fast looptimes. uint8_t acc_for_fast_looptime; // shorten acc processing time by using 1 out of 9 samples. For combination with fast looptimes.
uint8_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen. uint16_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
uint8_t gyro_sync_denom; // Gyro sample divider uint8_t gyro_sync_denom; // Gyro sample divider
float gyro_soft_lpf_hz; // Biqyad gyro lpf hz uint8_t gyro_soft_lpf_hz; // Biqyad gyro lpf hz
uint16_t dcm_kp; // DCM filter proportional gain ( x 10000) uint16_t dcm_kp; // DCM filter proportional gain ( x 10000)
uint16_t dcm_ki; // DCM filter integral gain ( x 10000) uint16_t dcm_ki; // DCM filter integral gain ( x 10000)

2
src/main/flight/mixer.h
View file

@ -74,7 +74,7 @@ typedef struct mixerConfig_s {
uint16_t yaw_jump_prevention_limit; // make limit configurable (original fixed value was 100) uint16_t yaw_jump_prevention_limit; // make limit configurable (original fixed value was 100)
#ifdef USE_SERVOS #ifdef USE_SERVOS
uint8_t tri_unarmed_servo; // send tail servo correction pulses even when unarmed uint8_t tri_unarmed_servo; // send tail servo correction pulses even when unarmed
int16_t servo_lowpass_freq; // lowpass servo filter frequency selection; 1/1000ths of loop freq uint16_t servo_lowpass_freq; // lowpass servo filter frequency selection; 1/1000ths of loop freq
int8_t servo_lowpass_enable; // enable/disable lowpass filter int8_t servo_lowpass_enable; // enable/disable lowpass filter
#endif #endif
} mixerConfig_t; } mixerConfig_t;

4
src/main/flight/pid.h
View file

@ -74,8 +74,8 @@ typedef struct pidProfile_s {
uint8_t H_sensitivity; uint8_t H_sensitivity;
float dterm_lpf_hz; // Delta Filter in hz uint16_t dterm_lpf_hz; // Delta Filter in hz
float yaw_lpf_hz; // Additional yaw filter when yaw axis too noisy uint16_t yaw_lpf_hz; // Additional yaw filter when yaw axis too noisy
uint16_t rollPitchItermResetRate; // Experimental threshold for resetting iterm for pitch and roll on certain rates uint16_t rollPitchItermResetRate; // Experimental threshold for resetting iterm for pitch and roll on certain rates
uint8_t rollPitchItermResetAlways; // Reset Iterm also without SUPER EXPO uint8_t rollPitchItermResetAlways; // Reset Iterm also without SUPER EXPO
uint16_t yawItermResetRate; // Experimental threshold for resetting iterm for yaw on certain rates uint16_t yawItermResetRate; // Experimental threshold for resetting iterm for yaw on certain rates

6
src/main/io/serial_cli.c
View file

@ -653,7 +653,7 @@ const clivalue_t valueTable[] = {
{ "gyro_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } }, { "gyro_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } },
{ "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyro_sync_denom, .config.minmax = { 1, 8 } }, { "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyro_sync_denom, .config.minmax = { 1, 8 } },
{ "gyro_lowpass_hz", VAR_FLOAT | MASTER_VALUE, &masterConfig.gyro_soft_lpf_hz, .config.minmax = { 0, 500 } }, { "gyro_lowpass_hz", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_soft_lpf_hz, .config.minmax = { 0, 500 } },
{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, .config.minmax = { 0, 128 } }, { "moron_threshold", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, .config.minmax = { 0, 128 } },
{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_kp, .config.minmax = { 0, 50000 } }, { "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_kp, .config.minmax = { 0, 50000 } },
{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_ki, .config.minmax = { 0, 50000 } }, { "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_ki, .config.minmax = { 0, 50000 } },
@ -673,7 +673,7 @@ const clivalue_t valueTable[] = {
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } }, { "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
#ifdef USE_SERVOS #ifdef USE_SERVOS
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } }, { "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
{ "servo_lowpass_freq", VAR_INT16 | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, .config.minmax = { 10, 400} }, { "servo_lowpass_freq", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, .config.minmax = { 10, 400} },
{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } }, { "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } },
#endif #endif
@ -726,7 +726,7 @@ const clivalue_t valueTable[] = {
{ "iterm_always_reset", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermResetAlways, .config.lookup = { TABLE_OFF_ON } }, { "iterm_always_reset", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermResetAlways, .config.lookup = { TABLE_OFF_ON } },
{ "iterm_reset_degrees", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermResetRate, .config.minmax = {50, 1000 } }, { "iterm_reset_degrees", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermResetRate, .config.minmax = {50, 1000 } },
{ "yaw_iterm_reset_degrees", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermResetRate, .config.minmax = {25, 1000 } }, { "yaw_iterm_reset_degrees", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermResetRate, .config.minmax = {25, 1000 } },
{ "yaw_lowpass_hz", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } }, { "yaw_lowpass_hz", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.pid_process_denom, .config.minmax = { 1, 8 } }, { "pid_process_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.pid_process_denom, .config.minmax = { 1, 8 } },
{ "pid_controller", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidController, .config.lookup = { TABLE_PID_CONTROLLER } }, { "pid_controller", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidController, .config.lookup = { TABLE_PID_CONTROLLER } },