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dterm_setpoint_weight to uint16_t

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dterm_setpoint_weight changet to uint16 with limit 0-2000
This commit is contained in:
supiiik 2018-05-23 08:39:45 +02:00
parent 6c15904a77
commit 76e3e7aded
6 changed files with 11 additions and 14 deletions
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4
src/main/cms/cms_menu_imu.c
View file

@ -237,7 +237,7 @@ static CMS_Menu cmsx_menuRateProfile = {
.entries = cmsx_menuRateProfileEntries .entries = cmsx_menuRateProfileEntries
}; };
static uint8_t cmsx_dtermSetpointWeight; static uint16_t cmsx_dtermSetpointWeight;
static uint8_t cmsx_setpointRelaxRatio; static uint8_t cmsx_setpointRelaxRatio;
static uint8_t cmsx_angleStrength; static uint8_t cmsx_angleStrength;
static uint8_t cmsx_horizonStrength; static uint8_t cmsx_horizonStrength;
@ -285,7 +285,7 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
static OSD_Entry cmsx_menuProfileOtherEntries[] = { static OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "-- OTHER PP --", OME_Label, NULL, pidProfileIndexString, 0 }, { "-- OTHER PP --", OME_Label, NULL, pidProfileIndexString, 0 },
{ "D SETPT WT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_dtermSetpointWeight, 0, 255, 1, 10 }, 0 }, { "D SETPT WT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_dtermSetpointWeight, 0, 2000, 1, 10 }, 0 },
{ "SETPT TRS", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_setpointRelaxRatio, 0, 100, 1, 10 }, 0 }, { "SETPT TRS", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_setpointRelaxRatio, 0, 100, 1, 10 }, 0 },
{ "ANGLE STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleStrength, 0, 200, 1 } , 0 }, { "ANGLE STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleStrength, 0, 200, 1 } , 0 },
{ "HORZN STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonStrength, 0, 200, 1 } , 0 }, { "HORZN STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonStrength, 0, 200, 1 } , 0 },

4
src/main/fc/rc_adjustments.c
View file

@ -401,7 +401,7 @@ static int applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t a
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
break; break;
case ADJUSTMENT_D_SETPOINT: case ADJUSTMENT_D_SETPOINT:
newValue = constrain((int)pidProfile->dtermSetpointWeight + delta, 0, 254); // FIXME magic numbers repeated in cli.c newValue = constrain((int)pidProfile->dtermSetpointWeight + delta, 0, 2000); // FIXME magic numbers repeated in cli.c
pidProfile->dtermSetpointWeight = newValue; pidProfile->dtermSetpointWeight = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue);
break; break;
@ -550,7 +550,7 @@ static int applyAbsoluteAdjustment(controlRateConfig_t *controlRateConfig, adjus
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
break; break;
case ADJUSTMENT_D_SETPOINT: case ADJUSTMENT_D_SETPOINT:
newValue = constrain(value, 0, 254); // FIXME magic numbers repeated in cli.c newValue = constrain(value, 0, 2000); // FIXME magic numbers repeated in cli.c
pidProfile->dtermSetpointWeight = newValue; pidProfile->dtermSetpointWeight = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue);
break; break;

5
src/main/flight/pid.c
View file

@ -317,10 +317,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
pidCoefficient[axis].Kd = DTERM_SCALE * pidProfile->pid[axis].D; pidCoefficient[axis].Kd = DTERM_SCALE * pidProfile->pid[axis].D;
} }
dtermSetpointWeight = pidProfile->dtermSetpointWeight / 100.0f; dtermSetpointWeight = pidProfile->dtermSetpointWeight / 127.0f;
if (dtermSetpointWeight > 2.0f) {
dtermSetpointWeight = 10 * (dtermSetpointWeight - 2.0f) + 2.0f;
}
if (pidProfile->setpointRelaxRatio == 0) { if (pidProfile->setpointRelaxRatio == 0) {
relaxFactor = 0; relaxFactor = 0;
} else { } else {

2
src/main/flight/pid.h
View file

@ -98,7 +98,7 @@ typedef struct pidProfile_s {
uint16_t itermThrottleThreshold; // max allowed throttle delta before iterm accelerated in ms uint16_t itermThrottleThreshold; // max allowed throttle delta before iterm accelerated in ms
uint16_t itermAcceleratorGain; // Iterm Accelerator Gain when itermThrottlethreshold is hit uint16_t itermAcceleratorGain; // Iterm Accelerator Gain when itermThrottlethreshold is hit
uint8_t setpointRelaxRatio; // Setpoint weight relaxation effect uint8_t setpointRelaxRatio; // Setpoint weight relaxation effect
uint8_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > aggressive derivative) uint16_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > aggressive derivative)
uint16_t yawRateAccelLimit; // yaw accel limiter for deg/sec/ms uint16_t yawRateAccelLimit; // yaw accel limiter for deg/sec/ms
uint16_t rateAccelLimit; // accel limiter roll/pitch deg/sec/ms uint16_t rateAccelLimit; // accel limiter roll/pitch deg/sec/ms
uint16_t crash_dthreshold; // dterm crash value uint16_t crash_dthreshold; // dterm crash value

8
src/main/interface/msp.c
View file

@ -1224,8 +1224,8 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, 0); // reserved sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, currentPidProfile->vbatPidCompensation); sbufWriteU8(dst, currentPidProfile->vbatPidCompensation);
sbufWriteU8(dst, currentPidProfile->setpointRelaxRatio); sbufWriteU8(dst, currentPidProfile->setpointRelaxRatio);
sbufWriteU8(dst, currentPidProfile->dtermSetpointWeight); sbufWriteU16(dst, currentPidProfile->dtermSetpointWeight);
sbufWriteU8(dst, 0); // reserved // sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // reserved sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // reserved sbufWriteU8(dst, 0); // reserved
sbufWriteU16(dst, currentPidProfile->rateAccelLimit); sbufWriteU16(dst, currentPidProfile->rateAccelLimit);
@ -1680,8 +1680,8 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU8(src); // reserved sbufReadU8(src); // reserved
currentPidProfile->vbatPidCompensation = sbufReadU8(src); currentPidProfile->vbatPidCompensation = sbufReadU8(src);
currentPidProfile->setpointRelaxRatio = sbufReadU8(src); currentPidProfile->setpointRelaxRatio = sbufReadU8(src);
currentPidProfile->dtermSetpointWeight = sbufReadU8(src); currentPidProfile->dtermSetpointWeight = sbufReadU16(src); // not sure, if this is OK. Low bit is written 1st, so it should be compatible
sbufReadU8(src); // reserved // sbufReadU8(src); // reserved
sbufReadU8(src); // reserved sbufReadU8(src); // reserved
sbufReadU8(src); // reserved sbufReadU8(src); // reserved
currentPidProfile->rateAccelLimit = sbufReadU16(src); currentPidProfile->rateAccelLimit = sbufReadU16(src);

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

@ -737,7 +737,7 @@ const clivalue_t valueTable[] = {
{ "anti_gravity_threshold", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 20, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermThrottleThreshold) }, { "anti_gravity_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) }, { "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) }, { "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_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) }, { "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) }, { "crash_dthreshold", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_dthreshold) },