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Luxfloat rework to int pids // Many pid cleanups // filter rework
Eeprom version // Dterm improvement Further PID Improvements Version Change Coupling configured // reworked filtering // more test features remove iterm scaler luxfloat Further rework filters etc Restore original luxfloat but scaled Restore original luxfloat but scaled
This commit is contained in:
borisbstyle
parent
d95220327b
commit
7b468c09f0
12 changed files with 145 additions and 309 deletions
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@ -476,7 +476,6 @@ void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adj
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void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
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int newValue;
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float newFloatValue;
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if (delta > 0) {
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beeperConfirmationBeeps(2);
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@ -523,114 +522,63 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
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break;
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case ADJUSTMENT_PITCH_ROLL_P:
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case ADJUSTMENT_PITCH_P:
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if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
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newFloatValue = constrainf(pidProfile->P_f[PIDPITCH] + (float)(delta / 100.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->P_f[PIDPITCH] = newFloatValue;
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blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_PITCH_P, newFloatValue);
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} else {
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newValue = constrain((int)pidProfile->P8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->P8[PIDPITCH] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_P, newValue);
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}
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newValue = constrain((int)pidProfile->P8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->P8[PIDPITCH] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_P, newValue);
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if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
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break;
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}
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// follow though for combined ADJUSTMENT_PITCH_ROLL_P
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case ADJUSTMENT_ROLL_P:
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if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
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newFloatValue = constrainf(pidProfile->P_f[PIDROLL] + (float)(delta / 100.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->P_f[PIDROLL] = newFloatValue;
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blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_ROLL_P, newFloatValue);
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} else {
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newValue = constrain((int)pidProfile->P8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->P8[PIDROLL] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_P, newValue);
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}
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newValue = constrain((int)pidProfile->P8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->P8[PIDROLL] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_P, newValue);
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break;
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case ADJUSTMENT_PITCH_ROLL_I:
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case ADJUSTMENT_PITCH_I:
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if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
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newFloatValue = constrainf(pidProfile->I_f[PIDPITCH] + (float)(delta / 100.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->I_f[PIDPITCH] = newFloatValue;
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blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_PITCH_I, newFloatValue);
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} else {
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newValue = constrain((int)pidProfile->I8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->I8[PIDPITCH] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_I, newValue);
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}
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newValue = constrain((int)pidProfile->I8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->I8[PIDPITCH] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_I, newValue);
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if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
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break;
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}
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// follow though for combined ADJUSTMENT_PITCH_ROLL_I
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case ADJUSTMENT_ROLL_I:
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if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
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newFloatValue = constrainf(pidProfile->I_f[PIDROLL] + (float)(delta / 100.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->I_f[PIDROLL] = newFloatValue;
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blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_ROLL_I, newFloatValue);
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} else {
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newValue = constrain((int)pidProfile->I8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->I8[PIDROLL] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_I, newValue);
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}
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newValue = constrain((int)pidProfile->I8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->I8[PIDROLL] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_I, newValue);
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break;
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case ADJUSTMENT_PITCH_ROLL_D:
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case ADJUSTMENT_PITCH_D:
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if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
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newFloatValue = constrainf(pidProfile->D_f[PIDPITCH] + (float)(delta / 1000.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->D_f[PIDPITCH] = newFloatValue;
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blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_PITCH_D, newFloatValue);
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} else {
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newValue = constrain((int)pidProfile->D8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->D8[PIDPITCH] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue);
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}
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newValue = constrain((int)pidProfile->D8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->D8[PIDPITCH] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue);
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if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
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break;
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}
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// follow though for combined ADJUSTMENT_PITCH_ROLL_D
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case ADJUSTMENT_ROLL_D:
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if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
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newFloatValue = constrainf(pidProfile->D_f[PIDROLL] + (float)(delta / 1000.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->D_f[PIDROLL] = newFloatValue;
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blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_ROLL_D, newFloatValue);
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} else {
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newValue = constrain((int)pidProfile->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->D8[PIDROLL] = newValue;
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newValue = constrain((int)pidProfile->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->D8[PIDROLL] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
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}
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break;
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case ADJUSTMENT_YAW_P:
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if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
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newFloatValue = constrainf(pidProfile->P_f[PIDYAW] + (float)(delta / 100.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->P_f[PIDYAW] = newFloatValue;
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blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_YAW_P, newFloatValue);
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} else {
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newValue = constrain((int)pidProfile->P8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->P8[PIDYAW] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_P, newValue);
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}
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newValue = constrain((int)pidProfile->P8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->P8[PIDYAW] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_P, newValue);
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break;
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case ADJUSTMENT_YAW_I:
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if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
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newFloatValue = constrainf(pidProfile->I_f[PIDYAW] + (float)(delta / 100.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->I_f[PIDYAW] = newFloatValue;
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blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_YAW_I, newFloatValue);
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} else {
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newValue = constrain((int)pidProfile->I8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->I8[PIDYAW] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_I, newValue);
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}
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newValue = constrain((int)pidProfile->I8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->I8[PIDYAW] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_I, newValue);
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break;
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case ADJUSTMENT_YAW_D:
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if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
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newFloatValue = constrainf(pidProfile->D_f[PIDYAW] + (float)(delta / 1000.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->D_f[PIDYAW] = newFloatValue;
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blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_YAW_D, newFloatValue);
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} else {
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newValue = constrain((int)pidProfile->D8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->D8[PIDYAW] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
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}
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newValue = constrain((int)pidProfile->D8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->D8[PIDYAW] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
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break;
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default:
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break;
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