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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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12
src/main/cms/cms_menu_imu.c
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@ -503,8 +503,7 @@ static uint8_t cmsx_horizonTransition;
static uint8_t cmsx_levelAngleLimit;
static uint8_t cmsx_throttleBoost;
static uint8_t cmsx_thrustLinearization;
static uint16_t cmsx_itermAcceleratorGain;
static uint16_t cmsx_itermThrottleThreshold;
static uint16_t cmsx_antiGravityGain;
static uint8_t cmsx_motorOutputLimit;
static int8_t cmsx_autoProfileCellCount;
#ifdef USE_D_MIN
@ -544,8 +543,7 @@ static const void *cmsx_profileOtherOnEnter(displayPort_t *pDisp)
cmsx_horizonTransition = pidProfile->pid[PID_LEVEL].D;
cmsx_levelAngleLimit = pidProfile->levelAngleLimit;
cmsx_itermAcceleratorGain = pidProfile->itermAcceleratorGain;
cmsx_itermThrottleThreshold = pidProfile->itermThrottleThreshold;
cmsx_antiGravityGain = pidProfile->anti_gravity_gain;
cmsx_throttleBoost = pidProfile->throttle_boost;
cmsx_thrustLinearization = pidProfile->thrustLinearization;
@ -594,8 +592,7 @@ static const void *cmsx_profileOtherOnExit(displayPort_t *pDisp, const OSD_Entry
pidProfile->pid[PID_LEVEL].D = cmsx_horizonTransition;
pidProfile->levelAngleLimit = cmsx_levelAngleLimit;
pidProfile->itermAcceleratorGain = cmsx_itermAcceleratorGain;
pidProfile->itermThrottleThreshold = cmsx_itermThrottleThreshold;
pidProfile->anti_gravity_gain = cmsx_antiGravityGain;
pidProfile->throttle_boost = cmsx_throttleBoost;
pidProfile->thrustLinearization = cmsx_thrustLinearization;
@ -647,8 +644,7 @@ static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "HORZN TRS", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonTransition, 0, 200, 1 } },
{ "ANGLE LIMIT", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_levelAngleLimit, 10, 90, 1 } },
{ "AG GAIN", OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_itermAcceleratorGain, ITERM_ACCELERATOR_GAIN_OFF, ITERM_ACCELERATOR_GAIN_MAX, 10 } },
{ "AG THR", OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_itermThrottleThreshold, 20, 1000, 1 } },
{ "AG GAIN", OME_UINT8, NULL, &(OSD_UINT16_t) { &cmsx_antiGravityGain, ITERM_ACCELERATOR_GAIN_OFF, ITERM_ACCELERATOR_GAIN_MAX, 10 } },
#ifdef USE_THROTTLE_BOOST
{ "THR BOOST", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_throttleBoost, 0, 100, 1 } },
#endif