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Angle pitch offset (for wings) (#14009)

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* angle pitch offset (for wings)

* made angle_pitch_offset int16, and changed direction to follow BF convention

* Update src/main/blackbox/blackbox.c

Co-authored-by: Jan Post <Rm2k-Freak@web.de>

---------

Co-authored-by: Jan Post <Rm2k-Freak@web.de>
This commit is contained in:
Ivan Efimov 2024-11-08 13:15:09 -06:00 • committed by GitHub
parent 56a3688d7d
commit 89f2ec9880
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GPG key ID: B5690EEEBB952194
5 changed files with 12 additions and 0 deletions
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1
src/main/blackbox/blackbox.c
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@ -1763,6 +1763,7 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_TPA_SPEED_MAX_VOLTAGE, "%d", currentPidProfile->tpa_speed_max_voltage);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_TPA_SPEED_PITCH_OFFSET, "%d", currentPidProfile->tpa_speed_pitch_offset);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_YAW_TYPE, "%d", currentPidProfile->yaw_type);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ANGLE_PITCH_OFFSET, "%d", currentPidProfile->angle_pitch_offset);
#endif // USE_WING
default:

1
src/main/cli/settings.c
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@ -1322,6 +1322,7 @@ const clivalue_t valueTable[] = {
{ PARAM_NAME_SPA_YAW_WIDTH, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, UINT16_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, spa_width[FD_YAW]) },
{ PARAM_NAME_SPA_YAW_MODE, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_SPA_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, spa_mode[FD_YAW]) },
{ PARAM_NAME_YAW_TYPE, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_YAW_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, yaw_type) },
{ PARAM_NAME_ANGLE_PITCH_OFFSET, VAR_INT16 | PROFILE_VALUE, .config.minmaxUnsigned = { -ANGLE_PITCH_OFFSET_MAX, ANGLE_PITCH_OFFSET_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, angle_pitch_offset) },
#endif
// PG_TELEMETRY_CONFIG

1
src/main/fc/parameter_names.h
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@ -177,6 +177,7 @@
#define PARAM_NAME_S_YAW "s_yaw"
#define PARAM_NAME_ANGLE_P_GAIN "angle_p_gain"
#define PARAM_NAME_ANGLE_EARTH_REF "angle_earth_ref"
#define PARAM_NAME_ANGLE_PITCH_OFFSET "angle_pitch_offset"
#define PARAM_NAME_HORIZON_LEVEL_STRENGTH "horizon_level_strength"
#define PARAM_NAME_HORIZON_LIMIT_DEGREES "horizon_limit_degrees"

7
src/main/flight/pid.c
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@ -252,6 +252,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.tpa_speed_max_voltage = 2520,
.tpa_speed_pitch_offset = 0,
.yaw_type = YAW_TYPE_RUDDER,
.angle_pitch_offset = 0,
);
}
@ -496,6 +497,12 @@ STATIC_UNIT_TESTED FAST_CODE_NOINLINE float pidLevel(int axis, const pidProfile_
float angleTarget = angleLimit * currentPidSetpoint * maxSetpointRateInv;
// use acro rates for the angle target in both horizon and angle modes, converted to -1 to +1 range using maxRate
#ifdef USE_WING
if (axis == FD_PITCH) {
angleTarget += (float)pidProfile->angle_pitch_offset / 10.0f;
}
#endif // USE_WING
#ifdef USE_GPS_RESCUE
angleTarget += gpsRescueAngle[axis] / 100.0f; // Angle is in centidegrees, stepped on roll at 10Hz but not on pitch
#endif

2
src/main/flight/pid.h
View file

@ -72,6 +72,7 @@
#define TPA_MAX 100
#ifdef USE_WING
#define ANGLE_PITCH_OFFSET_MAX 450
#define TPA_LOW_RATE_MIN INT8_MIN
#define TPA_GRAVITY_MAX 5000
#define TPA_CURVE_STALL_THROTTLE_MAX 100
@ -316,6 +317,7 @@ typedef struct pidProfile_s {
uint16_t tpa_speed_max_voltage; // For wings: theoretical max voltage; used for throttle scailing with voltage for air speed estimation
int16_t tpa_speed_pitch_offset; // For wings: pitch offset in degrees*10 for craft speed estimation
uint8_t yaw_type; // For wings: type of yaw (rudder or differential thrust)
int16_t angle_pitch_offset; // For wings: pitch offset for angle modes; in decidegrees; positive values tilting the wing down
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);