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Code Issues Wiki Activity

Fix to angle mode limit

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This commit is contained in:
Martin Budden 2017-08-30 09:50:23 +01:00
parent bfa0bf8a53
commit 877c82bc3f
4 changed files with 5 additions and 8 deletions
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4
src/main/fc/fc_msp.c
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@ -1162,7 +1162,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU16(dst, currentPidProfile->rateAccelLimit);
sbufWriteU16(dst, currentPidProfile->yawRateAccelLimit);
sbufWriteU8(dst, currentPidProfile->levelAngleLimit);
sbufWriteU8(dst, currentPidProfile->levelSensitivity);
sbufWriteU8(dst, 0); // was pidProfile.levelSensitivity
sbufWriteU16(dst, currentPidProfile->itermThrottleThreshold);
sbufWriteU16(dst, currentPidProfile->itermAcceleratorGain);
break;
@ -1571,7 +1571,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
currentPidProfile->yawRateAccelLimit = sbufReadU16(src);
if (sbufBytesRemaining(src) >= 2) {
currentPidProfile->levelAngleLimit = sbufReadU8(src);
currentPidProfile->levelSensitivity = sbufReadU8(src);
sbufReadU8(src); // was pidProfile.levelSensitivity
}
if (sbufBytesRemaining(src) >= 4) {
currentPidProfile->itermThrottleThreshold = sbufReadU16(src);

3
src/main/fc/settings.c
View file

@ -594,8 +594,7 @@ const clivalue_t valueTable[] = {
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_VEL].I) },
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_VEL].D) },
{ "level_sensitivity", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 10, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, levelSensitivity) },
{ "level_limit", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 10, 120 }, PG_PID_PROFILE, offsetof(pidProfile_t, levelAngleLimit) },
{ "level_limit", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 10, 90 }, PG_PID_PROFILE, offsetof(pidProfile_t, levelAngleLimit) },
{ "horizon_tilt_effect", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 250 }, PG_PID_PROFILE, offsetof(pidProfile_t, horizon_tilt_effect) },
{ "horizon_tilt_expert_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, horizon_tilt_expert_mode) },

5
src/main/flight/pid.c
View file

@ -69,7 +69,7 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
.pid_process_denom = PID_PROCESS_DENOM_DEFAULT
);
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 1);
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 2);
void resetPidProfile(pidProfile_t *pidProfile)
{
@ -98,7 +98,6 @@ void resetPidProfile(pidProfile_t *pidProfile)
.vbatPidCompensation = 0,
.pidAtMinThrottle = PID_STABILISATION_ON,
.levelAngleLimit = 55,
.levelSensitivity = 55,
.setpointRelaxRatio = 100,
.dtermSetpointWeight = 60,
.yawRateAccelLimit = 100,
@ -354,7 +353,7 @@ static float calcHorizonLevelStrength(void)
static float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint) {
// calculate error angle and limit the angle to the max inclination
// rcDeflection is in range [-1.0, 1.0]
float angle = pidProfile->levelSensitivity * getRcDeflection(axis);
float angle = pidProfile->levelAngleLimit * getRcDeflection(axis);
#ifdef GPS
angle += GPS_angle[axis];
#endif

1
src/main/flight/pid.h
View file

@ -85,7 +85,6 @@ typedef struct pidProfile_s {
uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage
uint8_t pidAtMinThrottle; // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
uint8_t levelAngleLimit; // Max angle in degrees in level mode
uint8_t levelSensitivity; // Angle mode sensitivity reflected in degrees assuming user using full stick
uint8_t horizon_tilt_effect; // inclination factor for Horizon mode
uint8_t horizon_tilt_expert_mode; // OFF or ON