Merge pull request #9633 from mikeller/remove_vbat_pid_compensation

Remove vbat pid compensation

src/main/blackbox/blackbox.c

@@ -1372,7 +1372,6 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("iterm_relax_type", "%d",               currentPidProfile->iterm_relax_type);
         BLACKBOX_PRINT_HEADER_LINE("iterm_relax_cutoff", "%d",             currentPidProfile->iterm_relax_cutoff);
 #endif
-        BLACKBOX_PRINT_HEADER_LINE("vbat_pid_gain", "%d",                   currentPidProfile->vbatPidCompensation);
         BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle", "%d",                currentPidProfile->pidAtMinThrottle);
 
         // Betaflight PID controller parameters

src/main/cli/settings.c

@@ -1035,7 +1035,6 @@ const clivalue_t valueTable[] = {
     { "dterm_lowpass2_hz",          VAR_INT16  | PROFILE_VALUE, .config.minmax = { 0, FILTER_FREQUENCY_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lowpass2_hz) },
     { "dterm_notch_hz",             VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, FILTER_FREQUENCY_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_notch_hz) },
     { "dterm_notch_cutoff",         VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, FILTER_FREQUENCY_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_notch_cutoff) },
-    { "vbat_pid_gain",              VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, vbatPidCompensation) },
 #if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
     { "vbat_sag_compensation",      VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 150 }, PG_PID_PROFILE, offsetof(pidProfile_t, vbat_sag_compensation) },
 #endif

src/main/fc/core.c

@@ -1188,7 +1188,7 @@ static FAST_CODE void subTaskMotorUpdate(timeUs_t currentTimeUs)
         startTime = micros();
     }
 
-    mixTable(currentTimeUs, currentPidProfile->vbatPidCompensation);
+    mixTable(currentTimeUs);
 
 #ifdef USE_SERVOS
     // motor outputs are used as sources for servo mixing, so motors must be calculated using mixTable() before servos.

src/main/flight/mixer.c

@@ -825,7 +825,7 @@ static void updateDynLpfCutoffs(timeUs_t currentTimeUs, float throttle)
 }
 #endif
 
-FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensation)
+FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
 {
     // Find min and max throttle based on conditions. Throttle has to be known before mixing
     calculateThrottleAndCurrentMotorEndpoints(currentTimeUs);
@@ -867,9 +867,6 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
         scaledAxisPidYaw = -scaledAxisPidYaw;
     }
 
-    // Calculate voltage compensation
-    const float vbatCompensationFactor = vbatPidCompensation ? calculateVbatPidCompensation() : 1.0f;
-
     // Apply the throttle_limit_percent to scale or limit the throttle based on throttle_limit_type
     if (currentControlRateProfile->throttle_limit_type != THROTTLE_LIMIT_TYPE_OFF) {
         throttle = applyThrottleLimit(throttle);
@@ -903,8 +900,6 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
             scaledAxisPidPitch * activeMixer[i].pitch +
             scaledAxisPidYaw   * activeMixer[i].yaw;
 
-        mix *= vbatCompensationFactor;  // Add voltage compensation
-
         if (mix > motorMixMax) {
             motorMixMax = mix;
         } else if (mix < motorMixMin) {

src/main/flight/mixer.h

@@ -106,7 +106,7 @@ void mixerInitProfile(void);
 void mixerConfigureOutput(void);
 
 void mixerResetDisarmedMotors(void);
-void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensation);
+void mixTable(timeUs_t currentTimeUs);
 void stopMotors(void);
 void writeMotors(void);
 

src/main/flight/pid.c

@@ -139,7 +139,6 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .dterm_notch_hz = 0,
         .dterm_notch_cutoff = 0,
         .itermWindupPointPercent = 100,
-        .vbatPidCompensation = 0,
         .pidAtMinThrottle = PID_STABILISATION_ON,
         .levelAngleLimit = 55,
         .feedForwardTransition = 0,

src/main/flight/pid.h

@@ -149,7 +149,6 @@ typedef struct pidProfile_s {
     uint16_t crash_delay;                   // ms
     uint8_t crash_recovery_angle;           // degrees
     uint8_t crash_recovery_rate;            // degree/second
-    uint8_t vbatPidCompensation;            // Scale PIDsum to battery voltage
     uint8_t feedForwardTransition;          // Feed forward weight transition
     uint16_t crash_limit_yaw;               // limits yaw errorRate, so crashes don't cause huge throttle increase
     uint16_t itermLimit;

src/main/msp/msp.c

@@ -1746,7 +1746,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
         sbufWriteU16(dst, 0);
         sbufWriteU16(dst, 0); // was pidProfile.yaw_p_limit
         sbufWriteU8(dst, 0); // reserved
-        sbufWriteU8(dst, currentPidProfile->vbatPidCompensation);
+        sbufWriteU8(dst, 0); // was vbatPidCompensation
         sbufWriteU8(dst, currentPidProfile->feedForwardTransition);
         sbufWriteU8(dst, 0); // was low byte of currentPidProfile->dtermSetpointWeight
         sbufWriteU8(dst, 0); // reserved
@@ -2595,7 +2595,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
         sbufReadU16(src);
         sbufReadU16(src); // was pidProfile.yaw_p_limit
         sbufReadU8(src); // reserved
-        currentPidProfile->vbatPidCompensation = sbufReadU8(src);
+        sbufReadU8(src); // was vbatPidCompensation
         currentPidProfile->feedForwardTransition = sbufReadU8(src);
         sbufReadU8(src); // was low byte of currentPidProfile->dtermSetpointWeight
         sbufReadU8(src); // reserved

src/main/sensors/battery.c

@@ -460,15 +460,6 @@ void batteryUpdateCurrentMeter(timeUs_t currentTimeUs)
     }
 }
 
-float calculateVbatPidCompensation(void) {
-    float batteryScaler =  1.0f;
-    if (batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE && batteryCellCount > 0) {
-        // Up to 33% PID gain. Should be fine for 4,2to 3,3 difference
-        batteryScaler =  constrainf((( (float)batteryConfig()->vbatmaxcellvoltage * batteryCellCount ) / (float) voltageMeter.displayFiltered), 1.0f, 1.33f);
-    }
-    return batteryScaler;
-}
-
 uint8_t calculateBatteryPercentageRemaining(void)
 {
     uint8_t batteryPercentage = 0;

src/main/sensors/battery.h

@@ -101,7 +101,6 @@ void batteryUpdateAlarms(void);
 
 struct rxConfig_s;
 
-float calculateVbatPidCompensation(void);
 uint8_t calculateBatteryPercentageRemaining(void);
 bool isBatteryVoltageConfigured(void);
 uint16_t getBatteryVoltage(void);

src/test/unit/arming_prevention_unittest.cc

@@ -1047,7 +1047,7 @@ extern "C" {
     bool isFirstArmingGyroCalibrationRunning(void) { return false; }
     void pidController(const pidProfile_t *, timeUs_t) {}
     void pidStabilisationState(pidStabilisationState_e) {}
-    void mixTable(timeUs_t , uint8_t) {};
+    void mixTable(timeUs_t) {};
     void writeMotors(void) {};
     void writeServos(void) {};
     bool calculateRxChannelsAndUpdateFailsafe(timeUs_t) { return true; }

src/test/unit/pid_unittest.cc

@@ -114,7 +114,6 @@ void setDefaultTestSettings(void) {
     pidProfile->dterm_notch_cutoff = 160;
     pidProfile->dterm_filter_type = FILTER_BIQUAD;
     pidProfile->itermWindupPointPercent = 50;
-    pidProfile->vbatPidCompensation = 0;
     pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
     pidProfile->levelAngleLimit = 55;
     pidProfile->feedForwardTransition = 100;

src/test/unit/vtx_unittest.cc

@@ -139,7 +139,7 @@ extern "C" {
     bool isFirstArmingGyroCalibrationRunning(void) { return false; }
     void pidController(const pidProfile_t *, timeUs_t) {}
     void pidStabilisationState(pidStabilisationState_e) {}
-    void mixTable(timeUs_t , uint8_t) {};
+    void mixTable(timeUs_t) {};
     void writeMotors(void) {};
     void writeServos(void) {};
     bool calculateRxChannelsAndUpdateFailsafe(timeUs_t) { return true; }