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Merge pull request #10777 from ctzsnooze/move-feedforward-transtion-calculation

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Michael Keller 2021-09-04 16:56:37 +12:00 • committed by GitHub
commit 7a8b40a670
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12 changed files with 72 additions and 45 deletions
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17
src/main/cms/cms_menu_imu.c
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@ -489,8 +489,6 @@ static CMS_Menu cmsx_menuLaunchControl = {
};
#endif
static uint8_t cmsx_feedforwardTransition;
static uint8_t cmsx_feedforward_boost;
static uint8_t cmsx_angleStrength;
static uint8_t cmsx_horizonStrength;
static uint8_t cmsx_horizonTransition;
@ -517,6 +515,8 @@ static uint8_t cmsx_iterm_relax_cutoff;
#endif
#ifdef USE_FEEDFORWARD
static uint8_t cmsx_feedforward_transition;
static uint8_t cmsx_feedforward_boost;
static uint8_t cmsx_feedforward_averaging;
static uint8_t cmsx_feedforward_smooth_factor;
static uint8_t cmsx_feedforward_jitter_factor;
@ -530,9 +530,6 @@ static const void *cmsx_profileOtherOnEnter(displayPort_t *pDisp)
const pidProfile_t *pidProfile = pidProfiles(pidProfileIndex);
cmsx_feedforwardTransition = pidProfile->feedforwardTransition;
cmsx_feedforward_boost = pidProfile->feedforward_boost;
cmsx_angleStrength = pidProfile->pid[PID_LEVEL].P;
cmsx_horizonStrength = pidProfile->pid[PID_LEVEL].I;
cmsx_horizonTransition = pidProfile->pid[PID_LEVEL].D;
@ -560,7 +557,9 @@ static const void *cmsx_profileOtherOnEnter(displayPort_t *pDisp)
#endif
#ifdef USE_FEEDFORWARD
cmsx_feedforward_transition = pidProfile->feedforward_transition;
cmsx_feedforward_averaging = pidProfile->feedforward_averaging;
cmsx_feedforward_boost = pidProfile->feedforward_boost;
cmsx_feedforward_smooth_factor = pidProfile->feedforward_smooth_factor;
cmsx_feedforward_jitter_factor = pidProfile->feedforward_jitter_factor;
#endif
@ -577,9 +576,7 @@ static const void *cmsx_profileOtherOnExit(displayPort_t *pDisp, const OSD_Entry
UNUSED(self);
pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
pidProfile->feedforwardTransition = cmsx_feedforwardTransition;
pidInitConfig(currentPidProfile);
pidProfile->feedforward_boost = cmsx_feedforward_boost;
pidProfile->pid[PID_LEVEL].P = cmsx_angleStrength;
pidProfile->pid[PID_LEVEL].I = cmsx_horizonStrength;
@ -608,7 +605,9 @@ static const void *cmsx_profileOtherOnExit(displayPort_t *pDisp, const OSD_Entry
#endif
#ifdef USE_FEEDFORWARD
pidProfile->feedforward_transition = cmsx_feedforward_transition;
pidProfile->feedforward_averaging = cmsx_feedforward_averaging;
pidProfile->feedforward_boost = cmsx_feedforward_boost;
pidProfile->feedforward_smooth_factor = cmsx_feedforward_smooth_factor;
pidProfile->feedforward_jitter_factor = cmsx_feedforward_jitter_factor;
#endif
@ -624,13 +623,13 @@ static const void *cmsx_profileOtherOnExit(displayPort_t *pDisp, const OSD_Entry
static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "-- OTHER PP --", OME_Label, NULL, pidProfileIndexString, 0 },
{ "FF TRANSITION", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_feedforwardTransition, 0, 100, 1, 10 }, 0 },
#ifdef USE_FEEDFORWARD
{ "FF TRANSITION", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_feedforward_transition, 0, 100, 1, 10 }, 0 },
{ "FF AVERAGING", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_feedforward_averaging, 4, lookupTableFeedforwardAveraging}, 0 },
{ "FF SMOOTHNESS", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_feedforward_smooth_factor, 0, 75, 1 } , 0 },
{ "FF JITTER", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_feedforward_jitter_factor, 0, 20, 1 } , 0 },
{ "FF BOOST", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_feedforward_boost, 0, 50, 1 } , 0 },
#endif
{ "FF BOOST", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_feedforward_boost, 0, 50, 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 TRS", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonTransition, 0, 200, 1 } , 0 },