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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/cms/cms_menu_imu.c
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@ -435,9 +435,6 @@ static const OSD_Entry cmsx_menuRateProfileEntries[] =
{ "THR LIM TYPE",OME_TAB, NULL, &(OSD_TAB_t) { &rateProfile.throttle_limit_type, THROTTLE_LIMIT_TYPE_COUNT - 1, osdTableThrottleLimitType} },
{ "THR LIM %", OME_UINT8, NULL, &(OSD_UINT8_t) { &rateProfile.throttle_limit_percent, 25, 100, 1} },
{ "ROLL LVL EXPO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.levelExpo[FD_ROLL], 0, 100, 1, 10 } },
{ "PITCH LVL EXPO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.levelExpo[FD_PITCH], 0, 100, 1, 10 } },
{ "BACK", OME_Back, NULL, NULL },
{ NULL, OME_END, NULL, NULL}
};
@ -519,6 +516,7 @@ static CMS_Menu cmsx_menuLaunchControl = {
static uint8_t cmsx_angleP;
static uint8_t cmsx_angleFF;
static uint8_t cmsx_angleLimit;
static uint8_t cmsx_angleEarthRef;
static uint8_t cmsx_horizonStrength;
static uint8_t cmsx_horizonLimitSticks;
@ -567,6 +565,7 @@ static const void *cmsx_profileOtherOnEnter(displayPort_t *pDisp)
cmsx_angleP = pidProfile->pid[PID_LEVEL].P;
cmsx_angleFF = pidProfile->pid[PID_LEVEL].F;
cmsx_angleLimit = pidProfile->angle_limit;
cmsx_angleEarthRef = pidProfile->angle_earth_ref;
cmsx_horizonStrength = pidProfile->pid[PID_LEVEL].I;
cmsx_horizonLimitSticks = pidProfile->pid[PID_LEVEL].D;
@ -621,6 +620,7 @@ static const void *cmsx_profileOtherOnExit(displayPort_t *pDisp, const OSD_Entry
pidProfile->pid[PID_LEVEL].P = cmsx_angleP;
pidProfile->pid[PID_LEVEL].F = cmsx_angleFF;
pidProfile->angle_limit = cmsx_angleLimit;
pidProfile->angle_earth_ref = cmsx_angleEarthRef;
pidProfile->pid[PID_LEVEL].I = cmsx_horizonStrength;
pidProfile->pid[PID_LEVEL].D = cmsx_horizonLimitSticks;
@ -678,6 +678,7 @@ static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "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 } },
{ "ANGLE E_REF", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleEarthRef, 0, 100, 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 } },