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refactor calculateNewPidValues function

Browse source 
roll pitch ratio now increase pitch

constrain dmin ratio, disable dmin if multiplier is 200

fix apply simplified tuning
This commit is contained in:
Nicola De Pasquale 2021-01-24 21:44:26 +01:00
parent 2d2ced105c
commit 3f3c143199
2 changed files with 32 additions and 45 deletions
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16
src/main/cms/cms_menu_imu.c
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@ -296,6 +296,22 @@ static const void *cmsx_applySimplifiedTuning(displayPort_t *pDisp, const void *
UNUSED(pDisp);
UNUSED(self);
pidProfile_t *pidProfile = currentPidProfile;
pidProfile->simplified_pids_mode = cmsx_simplified_pids_mode;
pidProfile->simplified_master_multiplier = cmsx_simplified_master_multiplier;
pidProfile->simplified_roll_pitch_ratio = cmsx_simplified_roll_pitch_ratio;
pidProfile->simplified_i_gain = cmsx_simplified_i_gain;
pidProfile->simplified_pd_ratio = cmsx_simplified_pd_ratio;
pidProfile->simplified_pd_gain = cmsx_simplified_pd_gain;
pidProfile->simplified_dmin_ratio = cmsx_simplified_dmin_ratio;
pidProfile->simplified_ff_gain = cmsx_simplified_ff_gain;
pidProfile->simplified_dterm_filter = cmsx_simplified_dterm_filter;
pidProfile->simplified_dterm_filter_multiplier = cmsx_simplified_dterm_filter_multiplier;
gyroConfigMutable()->simplified_gyro_filter = cmsx_simplified_gyro_filter;
gyroConfigMutable()->simplified_gyro_filter_multiplier = cmsx_simplified_gyro_filter_multiplier;
applySimplifiedTuning(currentPidProfile);
return MENU_CHAIN_BACK;