Merge pull request #6044 from mikeller/added_interpolation_checks

Added validation checks for interpolation settings, made throttle boost conditional.

src/main/fc/config.c

@@ -254,6 +254,26 @@ static void validateAndFixConfig(void)
         ) {
         rxConfigMutable()->rssi_src_frame_errors = false;
     }
+
+    if ((
+#if defined(USE_RC_SMOOTHING_FILTER)
+        rxConfig()->rc_smoothing_type == RC_SMOOTHING_TYPE_INTERPOLATION &&
+#endif
+        rxConfig()->rcInterpolation == RC_SMOOTHING_OFF) || rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_T) {
+        for (unsigned i = 0; i < MAX_PROFILE_COUNT; i++) {
+            pidProfilesMutable(i)->dtermSetpointWeight = 0;
+        }
+    }
+
+#if defined(USE_THROTTLE_BOOST)
+    if (!(rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_RPYT
+        || rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_T
+        || rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_RPT)) {
+        for (unsigned i = 0; i < MAX_PROFILE_COUNT; i++) {
+            pidProfilesMutable(i)->throttle_boost = 0;
+        }
+    }
+#endif
 #endif // USE_OSD_SLAVE
 
     if (!isSerialConfigValid(serialConfig())) {

src/main/flight/mixer.c

@@ -803,12 +803,14 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
         motorMix[i] = mix;
     }
 
-    motorMixRange = motorMixMax - motorMixMin;
+#if defined(USE_THROTTLE_BOOST)
     if (throttleBoost > 0.0f) {
         float throttlehpf = throttle - pt1FilterApply(&throttleLpf, throttle);
         throttle = constrainf(throttle + throttleBoost * throttlehpf, 0.0f, 1.0f);
     }
+#endif
 
+    motorMixRange = motorMixMax - motorMixMin;
     if (motorMixRange > 1.0f) {
         for (int i = 0; i < motorCount; i++) {
             motorMix[i] /= motorMixRange;

src/main/flight/pid.c

@@ -294,7 +294,9 @@ void pidInitFilters(const pidProfile_t *pidProfile)
         pt1FilterInit(&ptermYawLowpass, pt1FilterGain(pidProfile->yaw_lowpass_hz, dT));
     }
 
+#if defined(USE_THROTTLE_BOOST)
     pt1FilterInit(&throttleLpf, pt1FilterGain(pidProfile->throttle_boost_cutoff, dT));
+#endif
 #if defined(USE_ITERM_RELAX)
     if (itermRelax) {
         for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
@@ -345,8 +347,10 @@ static FAST_RAM_ZERO_INIT float crashGyroThreshold;
 static FAST_RAM_ZERO_INIT float crashSetpointThreshold;
 static FAST_RAM_ZERO_INIT float crashLimitYaw;
 static FAST_RAM_ZERO_INIT float itermLimit;
+#if defined(USE_THROTTLE_BOOST)
 FAST_RAM_ZERO_INIT float throttleBoost;
 pt1Filter_t throttleLpf;
+#endif
 static FAST_RAM_ZERO_INIT bool itermRotation;
 
 #if defined(USE_SMART_FEEDFORWARD)
@@ -411,7 +415,9 @@ void pidInitConfig(const pidProfile_t *pidProfile)
     crashSetpointThreshold = pidProfile->crash_setpoint_threshold;
     crashLimitYaw = pidProfile->crash_limit_yaw;
     itermLimit = pidProfile->itermLimit;
+#if defined(USE_THROTTLE_BOOST)
     throttleBoost = pidProfile->throttle_boost * 0.1f;
+#endif
     itermRotation = pidProfile->iterm_rotation;
 #if defined(USE_SMART_FEEDFORWARD)
     smartFeedforward = pidProfile->smart_feedforward;

src/main/interface/settings.c

@@ -810,8 +810,10 @@ const clivalue_t valueTable[] = {
     { "pidsum_limit_yaw",           VAR_UINT16 | PROFILE_VALUE, .config.minmax = { PIDSUM_LIMIT_MIN, PIDSUM_LIMIT_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pidSumLimitYaw) },
     { "yaw_lowpass_hz",             VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yaw_lowpass_hz) },
 
+#if defined(USE_THROTTLE_BOOST)
     { "throttle_boost",             VAR_UINT8 | PROFILE_VALUE,  .config.minmax = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, throttle_boost) },
     { "throttle_boost_cutoff",      VAR_UINT8 | PROFILE_VALUE,  .config.minmax = { 5, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, throttle_boost_cutoff) },
+#endif
 
 #ifdef USE_ACRO_TRAINER
     { "acro_trainer_angle_limit",   VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 10, 80 }, PG_PID_PROFILE, offsetof(pidProfile_t, acro_trainer_angle_limit) },

src/main/target/common_fc_pre.h

@@ -189,6 +189,7 @@
 #define USE_CRSF_CMS_TELEMETRY
 #define USE_BOARD_INFO
 #define USE_SMART_FEEDFORWARD
+#define USE_THROTTLE_BOOST
 
 #ifdef USE_SERIALRX_SPEKTRUM
 #define USE_SPEKTRUM_BIND
@@ -209,7 +210,6 @@
 #define USE_GPS_UBLOX
 #define USE_GPS_RESCUE
 #define USE_OSD_ADJUSTMENTS
-#define USE_RC_SMOOTHING_FILTER
 #define USE_SENSOR_NAMES
 #define USE_SERIALRX_JETIEXBUS
 #define USE_TELEMETRY_IBUS
@@ -218,6 +218,7 @@
 #define USE_TELEMETRY_MAVLINK
 #define USE_UNCOMMON_MIXERS
 #define USE_SIGNATURE
+#define USE_RC_SMOOTHING_FILTER
 #define USE_ITERM_RELAX
 #define USE_ABSOLUTE_CONTROL
 #endif