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major rc changes ctzsnooze 2021

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ctzsnooze 2021-05-03 09:08:29 +10:00
parent 2a5e457603
commit 636d563abe
26 changed files with 377 additions and 546 deletions
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58
src/main/cms/cms_menu_imu.c
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@ -237,7 +237,7 @@ static uint8_t cmsx_simplified_i_gain;
static uint8_t cmsx_simplified_pd_ratio;
static uint8_t cmsx_simplified_pd_gain;
static uint8_t cmsx_simplified_dmin_ratio;
static uint8_t cmsx_simplified_ff_gain;
static uint8_t cmsx_simplified_feedforward_gain;
static uint8_t cmsx_simplified_dterm_filter;
static uint8_t cmsx_simplified_dterm_filter_multiplier;
@ -257,7 +257,7 @@ static const void *cmsx_simplifiedTuningOnEnter(displayPort_t *pDisp)
cmsx_simplified_pd_ratio = pidProfile->simplified_pd_ratio;
cmsx_simplified_pd_gain = pidProfile->simplified_pd_gain;
cmsx_simplified_dmin_ratio = pidProfile->simplified_dmin_ratio;
cmsx_simplified_ff_gain = pidProfile->simplified_ff_gain;
cmsx_simplified_feedforward_gain = pidProfile->simplified_feedforward_gain;
cmsx_simplified_dterm_filter = pidProfile->simplified_dterm_filter;
cmsx_simplified_dterm_filter_multiplier = pidProfile->simplified_dterm_filter_multiplier;
@ -281,7 +281,7 @@ static const void *cmsx_simplifiedTuningOnExit(displayPort_t *pDisp, const OSD_E
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_feedforward_gain = cmsx_simplified_feedforward_gain;
pidProfile->simplified_dterm_filter = cmsx_simplified_dterm_filter;
pidProfile->simplified_dterm_filter_multiplier = cmsx_simplified_dterm_filter_multiplier;
@ -305,7 +305,7 @@ static const void *cmsx_applySimplifiedTuning(displayPort_t *pDisp, const void *
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_feedforward_gain = cmsx_simplified_feedforward_gain;
pidProfile->simplified_dterm_filter = cmsx_simplified_dterm_filter;
pidProfile->simplified_dterm_filter_multiplier = cmsx_simplified_dterm_filter_multiplier;
@ -327,7 +327,7 @@ static const OSD_Entry cmsx_menuSimplifiedTuningEntries[] =
{ "PD RATIO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_pd_ratio, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "PD GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_pd_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "DMIN RATIO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_dmin_ratio, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "FF GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_ff_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "FF GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_feedforward_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "-- SIMPLIFIED FILTER --", OME_Label, NULL, NULL, 0},
{ "GYRO TUNING", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_simplified_gyro_filter, 1, lookupTableOffOn }, 0 },
@ -489,8 +489,8 @@ static CMS_Menu cmsx_menuLaunchControl = {
};
#endif
static uint8_t cmsx_feedForwardTransition;
static uint8_t cmsx_ff_boost;
static uint8_t cmsx_feedforwardTransition;
static uint8_t cmsx_feedforward_boost;
static uint8_t cmsx_angleStrength;
static uint8_t cmsx_horizonStrength;
static uint8_t cmsx_horizonTransition;
@ -516,10 +516,10 @@ static uint8_t cmsx_iterm_relax_type;
static uint8_t cmsx_iterm_relax_cutoff;
#endif
#ifdef USE_INTERPOLATED_SP
static uint8_t cmsx_ff_interpolate_sp;
static uint8_t cmsx_ff_smooth_factor;
static uint8_t cmsx_ff_jitter_factor;
#ifdef USE_FEEDFORWARD
static uint8_t cmsx_feedforward_averaging;
static uint8_t cmsx_feedforward_smooth_factor;
static uint8_t cmsx_feedforward_jitter_factor;
#endif
static const void *cmsx_profileOtherOnEnter(displayPort_t *pDisp)
@ -530,8 +530,8 @@ static const void *cmsx_profileOtherOnEnter(displayPort_t *pDisp)
const pidProfile_t *pidProfile = pidProfiles(pidProfileIndex);
cmsx_feedForwardTransition = pidProfile->feedForwardTransition;
cmsx_ff_boost = pidProfile->ff_boost;
cmsx_feedforwardTransition = pidProfile->feedforwardTransition;
cmsx_feedforward_boost = pidProfile->feedforward_boost;
cmsx_angleStrength = pidProfile->pid[PID_LEVEL].P;
cmsx_horizonStrength = pidProfile->pid[PID_LEVEL].I;
@ -559,10 +559,10 @@ static const void *cmsx_profileOtherOnEnter(displayPort_t *pDisp)
cmsx_iterm_relax_cutoff = pidProfile->iterm_relax_cutoff;
#endif
#ifdef USE_INTERPOLATED_SP
cmsx_ff_interpolate_sp = pidProfile->ff_interpolate_sp;
cmsx_ff_smooth_factor = pidProfile->ff_smooth_factor;
cmsx_ff_jitter_factor = pidProfile->ff_jitter_factor;
#ifdef USE_FEEDFORWARD
cmsx_feedforward_averaging = pidProfile->feedforward_averaging;
cmsx_feedforward_smooth_factor = pidProfile->feedforward_smooth_factor;
cmsx_feedforward_jitter_factor = pidProfile->feedforward_jitter_factor;
#endif
#ifdef USE_BATTERY_VOLTAGE_SAG_COMPENSATION
@ -577,9 +577,9 @@ static const void *cmsx_profileOtherOnExit(displayPort_t *pDisp, const OSD_Entry
UNUSED(self);
pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
pidProfile->feedForwardTransition = cmsx_feedForwardTransition;
pidProfile->feedforwardTransition = cmsx_feedforwardTransition;
pidInitConfig(currentPidProfile);
pidProfile->ff_boost = cmsx_ff_boost;
pidProfile->feedforward_boost = cmsx_feedforward_boost;
pidProfile->pid[PID_LEVEL].P = cmsx_angleStrength;
pidProfile->pid[PID_LEVEL].I = cmsx_horizonStrength;
@ -607,10 +607,10 @@ static const void *cmsx_profileOtherOnExit(displayPort_t *pDisp, const OSD_Entry
pidProfile->iterm_relax_cutoff = cmsx_iterm_relax_cutoff;
#endif
#ifdef USE_INTERPOLATED_SP
pidProfile->ff_interpolate_sp = cmsx_ff_interpolate_sp;
pidProfile->ff_smooth_factor = cmsx_ff_smooth_factor;
pidProfile->ff_jitter_factor = cmsx_ff_jitter_factor;
#ifdef USE_FEEDFORWARD
pidProfile->feedforward_averaging = cmsx_feedforward_averaging;
pidProfile->feedforward_smooth_factor = cmsx_feedforward_smooth_factor;
pidProfile->feedforward_jitter_factor = cmsx_feedforward_jitter_factor;
#endif
#ifdef USE_BATTERY_VOLTAGE_SAG_COMPENSATION
@ -624,13 +624,13 @@ static const void *cmsx_profileOtherOnExit(displayPort_t *pDisp, const OSD_Entry
static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "-- OTHER PP --", OME_Label, NULL, pidProfileIndexString, 0 },
{ "FF TRANS", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_feedForwardTransition, 0, 100, 1, 10 }, 0 },
#ifdef USE_INTERPOLATED_SP
{ "FF MODE", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_ff_interpolate_sp, 4, lookupTableInterpolatedSetpoint}, 0 },
{ "FF SMOOTHNESS", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_ff_smooth_factor, 0, 75, 1 } , 0 },
{ "FF JITTER", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_ff_jitter_factor, 0, 20, 1 } , 0 },
{ "FF TRANSITION", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_feedforwardTransition, 0, 100, 1, 10 }, 0 },
#ifdef USE_FEEDFORWARD
{ "FF AVERAGING", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_feedforward_averaging, 4, lookupTableFeedforwardAveraging}, 0 },
{ "FF SMOOTHNESS", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_feedforward_smooth_factor, 0, 75, 1 } , 0 },
{ "FF JITTER", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_feedforward_jitter_factor, 0, 20, 1 } , 0 },
#endif
{ "FF BOOST", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_ff_boost, 0, 50, 1 } , 0 },
{ "FF BOOST", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_feedforward_boost, 0, 50, 1 } , 0 },
{ "ANGLE STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleStrength, 0, 200, 1 } , 0 },
{ "HORZN STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonStrength, 0, 200, 1 } , 0 },
{ "HORZN TRS", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonTransition, 0, 200, 1 } , 0 },