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update antigravity for 4.4, no boost on yaw

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Update to anti-gravity, including removal of the old Step mode, ability to adjust the P contribution (thanks @Limon), PT2 smoothed derivative model, inherent limiting of P boost during extremely fast stick travels to minimise P oscillations, less I during the middle of a throttle up, no I boost on yaw, add hz to cutoff labels

No antigravity on yaw, fix longstanding typo

h
This commit is contained in:
ctzsnooze 2022-06-20 08:55:31 +10:00
parent 4fa4d4851e
commit 6aaaf727ff
13 changed files with 92 additions and 160 deletions
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14
src/main/cli/settings.c
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@ -312,11 +312,6 @@ static const char * const lookupTableDtermLowpassType[] = {
"PT3",
};
static const char * const lookupTableAntiGravityMode[] = {
"SMOOTH",
"STEP",
};
static const char * const lookupTableFailsafe[] = {
"AUTO-LAND", "DROP", "GPS-RESCUE"
};
@ -571,7 +566,6 @@ const lookupTableEntry_t lookupTables[] = {
LOOKUP_TABLE_ENTRY(lookupTablePwmProtocol),
LOOKUP_TABLE_ENTRY(lookupTableLowpassType),
LOOKUP_TABLE_ENTRY(lookupTableDtermLowpassType),
LOOKUP_TABLE_ENTRY(lookupTableAntiGravityMode),
LOOKUP_TABLE_ENTRY(lookupTableFailsafe),
LOOKUP_TABLE_ENTRY(lookupTableFailsafeSwitchMode),
LOOKUP_TABLE_ENTRY(lookupTableCrashRecovery),
@ -1083,10 +1077,10 @@ const clivalue_t valueTable[] = {
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
{ PARAM_NAME_VBAT_SAG_COMPENSATION, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 150 }, PG_PID_PROFILE, offsetof(pidProfile_t, vbat_sag_compensation) },
#endif
{ PARAM_NAME_PID_AT_MIN_THROTTLE, VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, pidAtMinThrottle) },
{ PARAM_NAME_ANTI_GRAVITY_MODE, VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ANTI_GRAVITY_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, antiGravityMode) },
{ PARAM_NAME_ANTI_GRAVITY_THRESHOLD, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 20, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermThrottleThreshold) },
{ PARAM_NAME_ANTI_GRAVITY_GAIN, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { ITERM_ACCELERATOR_GAIN_OFF, ITERM_ACCELERATOR_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, itermAcceleratorGain) },
{ PARAM_NAME_PID_AT_MIN_THROTTLE, VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, pidAtMinThrottle) },
{ PARAM_NAME_ANTI_GRAVITY_GAIN, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { ITERM_ACCELERATOR_GAIN_OFF, ITERM_ACCELERATOR_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, anti_gravity_gain) },
{ PARAM_NAME_ANTI_GRAVITY_CUTOFF_HZ, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 2, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, anti_gravity_cutoff_hz) },
{ PARAM_NAME_ANTI_GRAVITY_P_GAIN, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 250 }, PG_PID_PROFILE, offsetof(pidProfile_t, anti_gravity_p_gain) },
{ PARAM_NAME_ACC_LIMIT_YAW, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yawRateAccelLimit) },
{ PARAM_NAME_ACC_LIMIT, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, rateAccelLimit) },
{ "crash_dthreshold", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 10, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_dthreshold) },