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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

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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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35
src/main/fc/rc.c
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@ -265,34 +265,6 @@ static void scaleRawSetpointToFpvCamAngle(void)
rawSetpoint[YAW] = constrainf(yaw * cosFactor + roll * sinFactor, -SETPOINT_RATE_LIMIT * 1.0f, SETPOINT_RATE_LIMIT * 1.0f);
}
#define THROTTLE_BUFFER_MAX 20
#define THROTTLE_DELTA_MS 100
static void checkForThrottleErrorResetState(uint16_t rxRefreshRate)
{
static int index;
static int16_t rcCommandThrottlePrevious[THROTTLE_BUFFER_MAX];
const int rxRefreshRateMs = rxRefreshRate / 1000;
const int indexMax = constrain(THROTTLE_DELTA_MS / rxRefreshRateMs, 1, THROTTLE_BUFFER_MAX);
const int16_t throttleVelocityThreshold = (featureIsEnabled(FEATURE_3D)) ? currentPidProfile->itermThrottleThreshold / 2 : currentPidProfile->itermThrottleThreshold;
rcCommandThrottlePrevious[index++] = rcCommand[THROTTLE];
if (index >= indexMax) {
index = 0;
}
const int16_t rcCommandSpeed = rcCommand[THROTTLE] - rcCommandThrottlePrevious[index];
if (currentPidProfile->antiGravityMode == ANTI_GRAVITY_STEP) {
if (ABS(rcCommandSpeed) > throttleVelocityThreshold) {
pidSetItermAccelerator(CONVERT_PARAMETER_TO_FLOAT(currentPidProfile->itermAcceleratorGain));
} else {
pidSetItermAccelerator(0.0f);
}
}
}
void updateRcRefreshRate(timeUs_t currentTimeUs)
{
static timeUs_t lastRxTimeUs;
@ -570,13 +542,6 @@ FAST_CODE void processRcCommand(void)
{
if (isRxDataNew) {
newRxDataForFF = true;
}
if (isRxDataNew && pidAntiGravityEnabled()) {
checkForThrottleErrorResetState(currentRxRefreshRate);
}
if (isRxDataNew) {
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
#ifdef USE_FEEDFORWARD