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Merge pull request #7516 from mikeller/add_automatic_pid_profile_switching

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Added battery cell count based automatic PID profile switching.
This commit is contained in:
Michael Keller 2019-02-08 09:28:07 +13:00 • committed by GitHub
commit 59ea4becb3
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23 changed files with 124 additions and 73 deletions
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39
src/main/fc/config.c
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@ -194,7 +194,7 @@ static void validateAndFixConfig(void)
}
loadControlRateProfile();
if (systemConfig()->pidProfileIndex >= MAX_PROFILE_COUNT) {
if (systemConfig()->pidProfileIndex >= PID_PROFILE_COUNT) {
systemConfigMutable()->pidProfileIndex = 0;
}
loadPidProfile();
@ -215,6 +215,10 @@ static void validateAndFixConfig(void)
currentPidProfile->motor_output_limit = 100;
}
if (currentPidProfile->auto_profile_cell_count > MAX_AUTO_DETECT_CELL_COUNT || currentPidProfile->auto_profile_cell_count < AUTO_PROFILE_CELL_COUNT_CHANGE) {
currentPidProfile->auto_profile_cell_count = AUTO_PROFILE_CELL_COUNT_STAY;
}
if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
featureDisable(FEATURE_3D);
@ -286,7 +290,7 @@ static void validateAndFixConfig(void)
}
if (!rcSmoothingIsEnabled() || rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_T) {
for (unsigned i = 0; i < MAX_PROFILE_COUNT; i++) {
for (unsigned i = 0; i < PID_PROFILE_COUNT; i++) {
pidProfilesMutable(i)->pid[PID_ROLL].F = 0;
pidProfilesMutable(i)->pid[PID_PITCH].F = 0;
}
@ -296,7 +300,7 @@ static void validateAndFixConfig(void)
(rxConfig()->rcInterpolationChannels != INTERPOLATION_CHANNELS_RPY &&
rxConfig()->rcInterpolationChannels != INTERPOLATION_CHANNELS_RPYT)) {
for (unsigned i = 0; i < MAX_PROFILE_COUNT; i++) {
for (unsigned i = 0; i < PID_PROFILE_COUNT; i++) {
pidProfilesMutable(i)->pid[PID_YAW].F = 0;
}
}
@ -306,7 +310,7 @@ static void validateAndFixConfig(void)
!(rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_RPYT
|| rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_T
|| rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_RPT)) {
for (unsigned i = 0; i < MAX_PROFILE_COUNT; i++) {
for (unsigned i = 0; i < PID_PROFILE_COUNT; i++) {
pidProfilesMutable(i)->throttle_boost = 0;
}
}
@ -630,9 +634,34 @@ void saveConfigAndNotify(void)
beeperConfirmationBeeps(1);
}
void changePidProfileFromCellCount(uint8_t cellCount)
{
if (currentPidProfile->auto_profile_cell_count == cellCount || currentPidProfile->auto_profile_cell_count == AUTO_PROFILE_CELL_COUNT_STAY) {
return;
}
unsigned profileIndex = (systemConfig()->pidProfileIndex + 1) % PID_PROFILE_COUNT;
int matchingProfileIndex = -1;
while (profileIndex != systemConfig()->pidProfileIndex) {
if (pidProfiles(profileIndex)->auto_profile_cell_count == cellCount) {
matchingProfileIndex = profileIndex;
break;
} else if (matchingProfileIndex < 0 && pidProfiles(profileIndex)->auto_profile_cell_count == AUTO_PROFILE_CELL_COUNT_STAY) {
matchingProfileIndex = profileIndex;
}
profileIndex = (profileIndex + 1) % PID_PROFILE_COUNT;
}
if (matchingProfileIndex >= 0) {
changePidProfile(matchingProfileIndex);
}
}
void changePidProfile(uint8_t pidProfileIndex)
{
if (pidProfileIndex < MAX_PROFILE_COUNT) {
if (pidProfileIndex < PID_PROFILE_COUNT) {
systemConfigMutable()->pidProfileIndex = pidProfileIndex;
loadPidProfile();