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More aggresive FF for averaging <3

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This commit is contained in:
ctzsnooze 2020-02-08 13:01:16 +11:00
parent be016dc794
commit 86c309454f
1 changed files with 18 additions and 12 deletions
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22
src/main/flight/interpolated_setpoint.c
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@ -44,6 +44,7 @@ static float prevAcceleration[XYZ_AXIS_COUNT];
static float prevRawSetpoint[XYZ_AXIS_COUNT]; static float prevRawSetpoint[XYZ_AXIS_COUNT];
static float prevDeltaImpl[XYZ_AXIS_COUNT]; static float prevDeltaImpl[XYZ_AXIS_COUNT];
static bool bigStep[XYZ_AXIS_COUNT]; static bool bigStep[XYZ_AXIS_COUNT];
static uint8_t averagingCount;
// Configuration // Configuration
static float ffMaxRateLimit[XYZ_AXIS_COUNT]; static float ffMaxRateLimit[XYZ_AXIS_COUNT];
@ -51,11 +52,11 @@ static float ffMaxRate[XYZ_AXIS_COUNT];
void interpolatedSpInit(const pidProfile_t *pidProfile) { void interpolatedSpInit(const pidProfile_t *pidProfile) {
const float ffMaxRateScale = pidProfile->ff_max_rate_limit * 0.01f; const float ffMaxRateScale = pidProfile->ff_max_rate_limit * 0.01f;
uint8_t j = pidProfile->ff_interpolate_sp; averagingCount = pidProfile->ff_interpolate_sp;
for (int i = 0; i < XYZ_AXIS_COUNT; i++) { for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
ffMaxRate[i] = applyCurve(i, 1.0f); ffMaxRate[i] = applyCurve(i, 1.0f);
ffMaxRateLimit[i] = ffMaxRate[i] * ffMaxRateScale; ffMaxRateLimit[i] = ffMaxRate[i] * ffMaxRateScale;
laggedMovingAverageInit(&setpointDeltaAvg[i].filter, j, (float *)&setpointDeltaAvg[i].buf[0]); laggedMovingAverageInit(&setpointDeltaAvg[i].filter, averagingCount, (float *)&setpointDeltaAvg[i].buf[0]);
} }
} }
@ -113,23 +114,28 @@ FAST_CODE_NOINLINE float interpolatedSpApply(int axis, bool newRcFrame, ffInterp
} else if (holdCount[axis] == 2) { } else if (holdCount[axis] == 2) {
// interpolation was not applied // interpolation was not applied
} else if (holdCount[axis] == 3) { } else if (holdCount[axis] == 3) {
// after persistent flat period or recent big step up, no boost // after persistent flat period, no boost
// reduces jitter from boost when flying smoothly // reduces jitter from boost when flying smooth lines
// but only when no ff_averaging is active, eg hard core race setups
// WARNING: this means no boost if ADC is active on FrSky radios // WARNING: this means no boost if ADC is active on FrSky radios
setpointAccelerationModified = 0.0f; if (averagingCount > 1) {
setpointAccelerationModified /= averagingCount;
}
} }
holdCount[axis] = 0; holdCount[axis] = 0;
} }
} }
// smooth deadband type suppression of FF when sticks are centred. // smooth deadband type suppression of FF jitter when sticks are at or returning to centre
const float rawSetpointCentred = fabsf(rawSetpoint) / 2.0f; // only when ff_averaging is 3 or more, for HD or cinematic flying
if (averagingCount > 2) {
const float rawSetpointCentred = fabsf(rawSetpoint) / averagingCount;
if (rawSetpointCentred < 1.0f) { if (rawSetpointCentred < 1.0f) {
// force zero FF when sticks are centred for smoothness
setpointSpeedModified *= rawSetpointCentred; setpointSpeedModified *= rawSetpointCentred;
setpointAccelerationModified *= rawSetpointCentred; setpointAccelerationModified *= rawSetpointCentred;
holdCount[axis] = 4; holdCount[axis] = 4;
} }
}
setpointDeltaImpl[axis] = setpointSpeedModified * pidGetDT(); setpointDeltaImpl[axis] = setpointSpeedModified * pidGetDT();
prevAcceleration[axis] = setpointAcceleration; prevAcceleration[axis] = setpointAcceleration;