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Merge pull request #11050 from haslinghuis/fw_change_filter_sliders

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J Blackman 2021-11-26 06:35:52 +11:00 • committed by GitHub
commit 7a3cbd0706
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1 changed files with 40 additions and 12 deletions
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52
src/main/config/simplified_tuning.c
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@ -65,22 +65,50 @@ static void calculateNewPidValues(pidProfile_t *pidProfile)
static void calculateNewDTermFilterValues(pidProfile_t *pidProfile) static void calculateNewDTermFilterValues(pidProfile_t *pidProfile)
{ {
pidProfile->dterm_lpf1_dyn_min_hz = constrain(DTERM_LPF1_DYN_MIN_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ); if (pidProfile->dterm_lpf1_dyn_min_hz) {
pidProfile->dterm_lpf1_dyn_max_hz = constrain(DTERM_LPF1_DYN_MAX_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ); pidProfile->dterm_lpf1_dyn_min_hz = constrain(DTERM_LPF1_DYN_MIN_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
pidProfile->dterm_lpf1_static_hz = constrain(DTERM_LPF1_DYN_MIN_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ); pidProfile->dterm_lpf1_dyn_max_hz = constrain(DTERM_LPF1_DYN_MAX_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
pidProfile->dterm_lpf2_static_hz = constrain(DTERM_LPF2_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, LPF_MAX_HZ); }
pidProfile->dterm_lpf1_type = FILTER_PT1;
pidProfile->dterm_lpf2_type = FILTER_PT1; if (pidProfile->dterm_lpf1_static_hz) {
pidProfile->dterm_lpf1_static_hz = constrain(DTERM_LPF1_DYN_MIN_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
}
if (pidProfile->dterm_lpf2_static_hz) {
pidProfile->dterm_lpf2_static_hz = constrain(DTERM_LPF2_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, LPF_MAX_HZ);
}
if (!pidProfile->dterm_lpf1_type) {
pidProfile->dterm_lpf1_type = FILTER_PT1;
}
if (!pidProfile->dterm_lpf2_type) {
pidProfile->dterm_lpf2_type = FILTER_PT1;
}
} }
static void calculateNewGyroFilterValues() static void calculateNewGyroFilterValues()
{ {
gyroConfigMutable()->gyro_lpf1_dyn_min_hz = constrain(GYRO_LPF1_DYN_MIN_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ); if (gyroConfigMutable()->gyro_lpf1_dyn_min_hz) {
gyroConfigMutable()->gyro_lpf1_dyn_max_hz = constrain(GYRO_LPF1_DYN_MAX_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ); gyroConfigMutable()->gyro_lpf1_dyn_min_hz = constrain(GYRO_LPF1_DYN_MIN_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
gyroConfigMutable()->gyro_lpf1_static_hz = constrain(GYRO_LPF1_DYN_MIN_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ); gyroConfigMutable()->gyro_lpf1_dyn_max_hz = constrain(GYRO_LPF1_DYN_MAX_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
gyroConfigMutable()->gyro_lpf2_static_hz = constrain(GYRO_LPF2_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, LPF_MAX_HZ); }
gyroConfigMutable()->gyro_lpf1_type = FILTER_PT1;
gyroConfigMutable()->gyro_lpf2_type = FILTER_PT1; if (gyroConfigMutable()->gyro_lpf1_static_hz) {
gyroConfigMutable()->gyro_lpf1_static_hz = constrain(GYRO_LPF1_DYN_MIN_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
}
if (gyroConfigMutable()->gyro_lpf2_static_hz) {
gyroConfigMutable()->gyro_lpf2_static_hz = constrain(GYRO_LPF2_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, LPF_MAX_HZ);
}
if (!gyroConfigMutable()->gyro_lpf1_type) {
gyroConfigMutable()->gyro_lpf1_type = FILTER_PT1;
}
if (!gyroConfigMutable()->gyro_lpf2_type) {
gyroConfigMutable()->gyro_lpf2_type = FILTER_PT1;
}
} }
void applySimplifiedTuning(pidProfile_t *pidProfile) void applySimplifiedTuning(pidProfile_t *pidProfile)