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Refactor Feedforward Angle and RC Smoothing - mashup of 12578 and 12594 (#12605)

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* Refactor Feedforward Angle and RC Smoothing

* update rc_smoothing at regular intervals

* add Earth Ref to OSD, update pid and rate PG

* Initialise filters correctly

* refactoring to improve performance

* Save 24 cycles in Horizon calculations, other optimisations

At a cost of 40 bytes

* save 25 cycles and 330 bytes in rc_smoothing

* feedforward max rate improvements

* typo fix

* Karatebrot's review suggestions  part one

* Karatebrot's excellent suggestions part 2

* more efficient if we calculate inverse at init time

Co-Authored-By: Jan Post <post@stud.tu-darmstadt.de>

* Horizon delay, to ease it in when returning sticks to centre

* fix unit tests after horizon changes

Co-Authored-By: 4712 <4712@users.noreply.github.com>

* horizon_delay_ms, default 500

* fix unit test for feedforward from setpointDelta

* Final optimisations - thanks @Karatebrot for your advice

* increase horizon level strength default to 75 now we have the delay

* restore Makefile value which allowed local make test on mac

---------

Co-authored-by: Jan Post <post@stud.tu-darmstadt.de>
Co-authored-by: 4712 <4712@users.noreply.github.com>
This commit is contained in:
ctzsnooze 2023-04-24 06:03:18 +10:00 • committed by GitHub
parent 445758f3ec
commit 34057bfbc2
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GPG key ID: 4AEE18F83AFDEB23
19 changed files with 558 additions and 856 deletions
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12
src/main/cli/cli.c
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@ -4699,7 +4699,7 @@ static void cliStatus(const char *cmdName, char *cmdline)
// Run status
const int gyroRate = getTaskDeltaTimeUs(TASK_GYRO) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTimeUs(TASK_GYRO)));
int rxRate = getCurrentRxRefreshRate();
int rxRate = getCurrentRxIntervalUs();
if (rxRate != 0) {
rxRate = (int)(1000000.0f / ((float)rxRate));
}
@ -4845,12 +4845,12 @@ static void cliRcSmoothing(const char *cmdName, char *cmdline)
if (rxConfig()->rc_smoothing_mode) {
cliPrintLine("FILTER");
if (rcSmoothingAutoCalculate()) {
const uint16_t avgRxFrameUs = rcSmoothingData->averageFrameTimeUs;
cliPrint("# Detected RX frame rate: ");
if (avgRxFrameUs == 0) {
const uint16_t smoothedRxRateHz = lrintf(rcSmoothingData->smoothedRxRateHz);
cliPrint("# Detected Rx frequency: ");
if (getCurrentRxIntervalUs() == 0) {
cliPrintLine("NO SIGNAL");
} else {
cliPrintLinef("%d.%03dms", avgRxFrameUs / 1000, avgRxFrameUs % 1000);
cliPrintLinef("%dHz", smoothedRxRateHz);
}
}
cliPrintf("# Active setpoint cutoff: %dhz ", rcSmoothingData->setpointCutoffFrequency);
@ -4860,7 +4860,7 @@ static void cliRcSmoothing(const char *cmdName, char *cmdline)
cliPrintLine("(auto)");
}
cliPrintf("# Active FF cutoff: %dhz ", rcSmoothingData->feedforwardCutoffFrequency);
if (rcSmoothingData->ffCutoffSetting) {
if (rcSmoothingData->feedforwardCutoffSetting) {
cliPrintLine("(manual)");
} else {
cliPrintLine("(auto)");