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Merge pull request #5945 from supiiik/master

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New calculation method for Dterm setpoint weight
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Michael Keller 2018-05-24 21:16:55 +12:00 • committed by GitHub
commit 71a1a9789a
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6 changed files with 12 additions and 8 deletions
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6
src/main/interface/msp.c
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@ -1224,7 +1224,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, currentPidProfile->vbatPidCompensation);
sbufWriteU8(dst, currentPidProfile->setpointRelaxRatio);
sbufWriteU8(dst, currentPidProfile->dtermSetpointWeight);
sbufWriteU8(dst, MIN(currentPidProfile->dtermSetpointWeight, 255));
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // reserved
@ -1234,6 +1234,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, 0); // was pidProfile.levelSensitivity
sbufWriteU16(dst, currentPidProfile->itermThrottleThreshold);
sbufWriteU16(dst, currentPidProfile->itermAcceleratorGain);
sbufWriteU16(dst, currentPidProfile->dtermSetpointWeight);
break;
case MSP_SENSOR_CONFIG:
@ -1694,6 +1695,9 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
currentPidProfile->itermThrottleThreshold = sbufReadU16(src);
currentPidProfile->itermAcceleratorGain = sbufReadU16(src);
}
if (sbufBytesRemaining(src) >= 2) {
currentPidProfile->dtermSetpointWeight = sbufReadU16(src);
}
pidInitConfig(currentPidProfile);
break;

2
src/main/interface/settings.c
View file

@ -738,7 +738,7 @@ const clivalue_t valueTable[] = {
{ "anti_gravity_threshold", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 20, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermThrottleThreshold) },
{ "anti_gravity_gain", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 1000, 30000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermAcceleratorGain) },
{ "setpoint_relax_ratio", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, setpointRelaxRatio) },
{ "dterm_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 254 }, PG_PID_PROFILE, offsetof(pidProfile_t, dtermSetpointWeight) },
{ "dterm_setpoint_weight", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dtermSetpointWeight) },
{ "acc_limit_yaw", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yawRateAccelLimit) },
{ "acc_limit", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, rateAccelLimit) },
{ "crash_dthreshold", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_dthreshold) },