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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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7
src/main/cli/settings.c
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@ -979,8 +979,6 @@ const clivalue_t valueTable[] = {
{ "roll_rate_limit", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { CONTROL_RATE_CONFIG_RATE_LIMIT_MIN, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rate_limit[FD_ROLL]) },
{ "pitch_rate_limit", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { CONTROL_RATE_CONFIG_RATE_LIMIT_MIN, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rate_limit[FD_PITCH]) },
{ "yaw_rate_limit", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { CONTROL_RATE_CONFIG_RATE_LIMIT_MIN, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rate_limit[FD_YAW]) },
{ PARAM_NAME_ANGLE_ROLL_EXPO, VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_RC_EXPO_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, levelExpo[FD_ROLL]) },
{ PARAM_NAME_ANGLE_PITCH_EXPO, VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_RC_EXPO_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, levelExpo[FD_PITCH]) },
// PG_SERIAL_CONFIG
{ "reboot_character", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 48, 126 }, PG_SERIAL_CONFIG, offsetof(serialConfig_t, reboot_character) },
@ -1144,6 +1142,7 @@ const clivalue_t valueTable[] = {
{ PARAM_NAME_HORIZON_LIMIT_STICKS, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 10, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_LEVEL].D) },
{ PARAM_NAME_HORIZON_LIMIT_DEGREES, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 10, 250 }, PG_PID_PROFILE, offsetof(pidProfile_t, horizon_limit_degrees) },
{ PARAM_NAME_HORIZON_IGNORE_STICKS, VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, horizon_ignore_sticks) },
{ PARAM_NAME_HORIZON_DELAY_MS, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 10, 5000 }, PG_PID_PROFILE, offsetof(pidProfile_t, horizon_delay_ms) },
#if defined(USE_ABSOLUTE_CONTROL)
{ PARAM_NAME_ABS_CONTROL_GAIN, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 20 }, PG_PID_PROFILE, offsetof(pidProfile_t, abs_control_gain) },
@ -1189,8 +1188,8 @@ const clivalue_t valueTable[] = {
{ PARAM_NAME_FEEDFORWARD_AVERAGING, VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_FEEDFORWARD_AVERAGING }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_averaging) },
{ PARAM_NAME_FEEDFORWARD_SMOOTH_FACTOR, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 95}, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_smooth_factor) },
{ PARAM_NAME_FEEDFORWARD_JITTER_FACTOR, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 20}, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_jitter_factor) },
{ PARAM_NAME_FEEDFORWARD_BOOST, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_boost) },
{ PARAM_NAME_FEEDFORWARD_MAX_RATE_LIMIT, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 150}, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_max_rate_limit) },
{ PARAM_NAME_FEEDFORWARD_BOOST, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_boost) },
{ PARAM_NAME_FEEDFORWARD_MAX_RATE_LIMIT, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 200}, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_max_rate_limit) },
#endif
#ifdef USE_DYN_IDLE