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major rc changes ctzsnooze 2021

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This commit is contained in:
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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34
src/main/flight/pid_init.c
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@ -36,7 +36,7 @@
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "flight/interpolated_setpoint.h"
#include "flight/feedforward.h"
#include "flight/pid.h"
#include "flight/rpm_filter.h"
@ -207,7 +207,7 @@ void pidInitFilters(const pidProfile_t *pidProfile)
pt1FilterInit(&pidRuntime.antiGravityThrottleLpf, pt1FilterGain(ANTI_GRAVITY_THROTTLE_FILTER_CUTOFF, pidRuntime.dT));
pt1FilterInit(&pidRuntime.antiGravitySmoothLpf, pt1FilterGain(ANTI_GRAVITY_SMOOTH_FILTER_CUTOFF, pidRuntime.dT));
pidRuntime.ffBoostFactor = (float)pidProfile->ff_boost / 10.0f;
pidRuntime.ffBoostFactor = (float)pidProfile->feedforward_boost / 10.0f;
}
void pidInit(const pidProfile_t *pidProfile)
@ -221,22 +221,22 @@ void pidInit(const pidProfile_t *pidProfile)
}
#ifdef USE_RC_SMOOTHING_FILTER
void pidInitSetpointDerivativeLpf(uint16_t filterCutoff, uint8_t debugAxis)
void pidInitFeedforwardLpf(uint16_t filterCutoff, uint8_t debugAxis)
{
pidRuntime.rcSmoothingDebugAxis = debugAxis;
if (filterCutoff > 0) {
pidRuntime.setpointDerivativeLpfInitialized = true;
pidRuntime.feedforwardLpfInitialized = true;
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
pt3FilterInit(&pidRuntime.setpointDerivativePt3[axis], pt3FilterGain(filterCutoff, pidRuntime.dT));
pt3FilterInit(&pidRuntime.feedforwardPt3[axis], pt3FilterGain(filterCutoff, pidRuntime.dT));
}
}
}
void pidUpdateSetpointDerivativeLpf(uint16_t filterCutoff)
void pidUpdateFeedforwardLpf(uint16_t filterCutoff)
{
if (filterCutoff > 0) {
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
pt3FilterUpdateCutoff(&pidRuntime.setpointDerivativePt3[axis], pt3FilterGain(filterCutoff, pidRuntime.dT));
pt3FilterUpdateCutoff(&pidRuntime.feedforwardPt3[axis], pt3FilterGain(filterCutoff, pidRuntime.dT));
}
}
}
@ -244,10 +244,10 @@ void pidUpdateSetpointDerivativeLpf(uint16_t filterCutoff)
void pidInitConfig(const pidProfile_t *pidProfile)
{
if (pidProfile->feedForwardTransition == 0) {
pidRuntime.feedForwardTransition = 0;
if (pidProfile->feedforwardTransition == 0) {
pidRuntime.feedforwardTransition = 0;
} else {
pidRuntime.feedForwardTransition = 100.0f / pidProfile->feedForwardTransition;
pidRuntime.feedforwardTransition = 100.0f / pidProfile->feedforwardTransition;
}
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
pidRuntime.pidCoefficient[axis].Kp = PTERM_SCALE * pidProfile->pid[axis].P;
@ -383,16 +383,16 @@ void pidInitConfig(const pidProfile_t *pidProfile)
pidRuntime.airmodeThrottleOffsetLimit = pidProfile->transient_throttle_limit / 100.0f;
#endif
#ifdef USE_INTERPOLATED_SP
pidRuntime.ffFromInterpolatedSetpoint = pidProfile->ff_interpolate_sp;
if (pidProfile->ff_smooth_factor) {
pidRuntime.ffSmoothFactor = 1.0f - ((float)pidProfile->ff_smooth_factor) / 100.0f;
#ifdef USE_FEEDFORWARD
pidRuntime.feedforwardAveraging = pidProfile->feedforward_averaging;
if (pidProfile->feedforward_smooth_factor) {
pidRuntime.ffSmoothFactor = 1.0f - ((float)pidProfile->feedforward_smooth_factor) / 100.0f;
} else {
// set automatically according to boost amount, limit to 0.5 for auto
pidRuntime.ffSmoothFactor = MAX(0.5f, 1.0f - ((float)pidProfile->ff_boost) * 2.0f / 100.0f);
pidRuntime.ffSmoothFactor = MAX(0.5f, 1.0f - ((float)pidProfile->feedforward_boost) * 2.0f / 100.0f);
}
pidRuntime.ffJitterFactor = pidProfile->ff_jitter_factor;
interpolatedSpInit(pidProfile);
pidRuntime.ffJitterFactor = pidProfile->feedforward_jitter_factor;
feedforwardInit(pidProfile);
#endif
pidRuntime.levelRaceMode = pidProfile->level_race_mode;