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Code Issues Wiki Activity

Luxfloat rework to int pids // Many pid cleanups // filter rework

Browse source 
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 2016-03-21 16:53:27 +01:00
parent d95220327b
commit 7b468c09f0
12 changed files with 145 additions and 309 deletions
Download patch file Download diff file Expand all files Collapse all files

54
src/main/io/serial_msp.c
View file

@ -879,29 +879,10 @@ static bool processOutCommand(uint8_t cmdMSP)
break;
case MSP_PID:
headSerialReply(3 * PID_ITEM_COUNT);
if (IS_PID_CONTROLLER_FP_BASED(currentProfile->pidProfile.pidController)) { // convert float stuff into uint8_t to keep backwards compatability with all 8-bit shit with new pid
for (i = 0; i < 3; i++) {
serialize8(constrain(lrintf(currentProfile->pidProfile.P_f[i] * 40.0f), 0, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.I_f[i] * 100.0f), 0, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.D_f[i] * 4000.0f), 0, 255));
}
for (i = 3; i < PID_ITEM_COUNT; i++) {
if (i == PIDLEVEL) {
serialize8(constrain(lrintf(currentProfile->pidProfile.A_level * 10.0f), 0, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.H_level * 10.0f), 0, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.H_sensitivity), 0, 255));
} else {
serialize8(currentProfile->pidProfile.P8[i]);
serialize8(currentProfile->pidProfile.I8[i]);
serialize8(currentProfile->pidProfile.D8[i]);
}
}
} else {
for (i = 0; i < PID_ITEM_COUNT; i++) {
serialize8(currentProfile->pidProfile.P8[i]);
serialize8(currentProfile->pidProfile.I8[i]);
serialize8(currentProfile->pidProfile.D8[i]);
}
for (i = 0; i < PID_ITEM_COUNT; i++) {
serialize8(currentProfile->pidProfile.P8[i]);
serialize8(currentProfile->pidProfile.I8[i]);
serialize8(currentProfile->pidProfile.D8[i]);
}
break;
case MSP_PIDNAMES:
@ -1335,29 +1316,10 @@ static bool processInCommand(void)
if (oldPid != currentProfile->pidProfile.pidController) setGyroSamplingSpeed(0); // recalculate looptimes for new PID
break;
case MSP_SET_PID:
if (IS_PID_CONTROLLER_FP_BASED(currentProfile->pidProfile.pidController)) {
for (i = 0; i < 3; i++) {
currentProfile->pidProfile.P_f[i] = (float)read8() / 40.0f;
currentProfile->pidProfile.I_f[i] = (float)read8() / 100.0f;
currentProfile->pidProfile.D_f[i] = (float)read8() / 4000.0f;
}
for (i = 3; i < PID_ITEM_COUNT; i++) {
if (i == PIDLEVEL) {
currentProfile->pidProfile.A_level = (float)read8() / 10.0f;
currentProfile->pidProfile.H_level = (float)read8() / 10.0f;
currentProfile->pidProfile.H_sensitivity = read8();
} else {
currentProfile->pidProfile.P8[i] = read8();
currentProfile->pidProfile.I8[i] = read8();
currentProfile->pidProfile.D8[i] = read8();
}
}
} else {
for (i = 0; i < PID_ITEM_COUNT; i++) {
currentProfile->pidProfile.P8[i] = read8();
currentProfile->pidProfile.I8[i] = read8();
currentProfile->pidProfile.D8[i] = read8();
}
for (i = 0; i < PID_ITEM_COUNT; i++) {
currentProfile->pidProfile.P8[i] = read8();
currentProfile->pidProfile.I8[i] = read8();
currentProfile->pidProfile.D8[i] = read8();
}
break;
case MSP_SET_MODE_RANGE: