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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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19 changed files with 558 additions and 856 deletions
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4
src/test/unit/cli_unittest.cc
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@ -310,7 +310,7 @@ uint8_t __config_end = 0x10;
uint16_t averageSystemLoadPercent = 0;
timeDelta_t getTaskDeltaTimeUs(taskId_e){ return 0; }
uint16_t currentRxRefreshRate = 9000;
uint16_t currentRxIntervalUs = 9000;
armingDisableFlags_e getArmingDisableFlags(void) { return ARMING_DISABLED_NO_GYRO; }
const char *armingDisableFlagNames[]= {
@ -368,6 +368,6 @@ bool isModeActivationConditionConfigured(const modeActivationCondition_t *, cons
void delay(uint32_t) {}
displayPort_t *osdGetDisplayPort(osdDisplayPortDevice_e *) { return NULL; }
mcuTypeId_e getMcuTypeId(void) { return MCU_TYPE_UNKNOWN; }
uint16_t getCurrentRxRefreshRate(void) { return 0; }
uint16_t getCurrentRxIntervalUs(void) { return 0; }
uint16_t getAverageSystemLoadPercent(void) { return 0; }
}