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Code Issues Wiki Activity

Remove d min confusion (#13908)

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* rename dMin, remove D_MIN_GAIN_MAX

* rename vars

* fix logic

* fix logic

* Revert "fix tests"

This reverts commit c518c9c444.

* Revert "add yaw and other adjustment cases"

This reverts commit 2cacd4b360.

* Revert "fix unit test"

This reverts commit 3d88f4158a.

* Revert "fix D adjustments change dmax instead of D"

This reverts commit 7ee4e7f8af.

* Revert "Fix telemetry for Spektrum/SRXL (#13814)"

This reverts commit 04fe4b4461.

* review adjustments and test fixes

* Reapply "Fix telemetry for Spektrum/SRXL (#13814)"

This reverts commit eb7f8ee0fd.

* fix logic

* Apply suggestions from code review

Co-authored-by: Jan Post <Rm2k-Freak@web.de>
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* fix d_max slider

---------

Co-authored-by: Jan Post <Rm2k-Freak@web.de>
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
This commit is contained in:
MikeNomatter 2024-09-24 11:28:25 +02:00 • committed by GitHub
parent c0c24d7f52
commit 908f9cc32d
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GPG key ID: B5690EEEBB952194
16 changed files with 143 additions and 154 deletions
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36
src/main/msp/msp.c
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@ -1988,12 +1988,12 @@ case MSP_NAME:
sbufWriteU16(dst, currentPidProfile->pid[PID_PITCH].F);
sbufWriteU16(dst, currentPidProfile->pid[PID_YAW].F);
sbufWriteU8(dst, 0); // was currentPidProfile->antiGravityMode
#if defined(USE_D_MIN)
sbufWriteU8(dst, currentPidProfile->d_min[PID_ROLL]);
sbufWriteU8(dst, currentPidProfile->d_min[PID_PITCH]);
sbufWriteU8(dst, currentPidProfile->d_min[PID_YAW]);
sbufWriteU8(dst, currentPidProfile->d_min_gain);
sbufWriteU8(dst, currentPidProfile->d_min_advance);
#ifdef USE_D_MAX
sbufWriteU8(dst, currentPidProfile->d_max[PID_ROLL]);
sbufWriteU8(dst, currentPidProfile->d_max[PID_PITCH]);
sbufWriteU8(dst, currentPidProfile->d_max[PID_YAW]);
sbufWriteU8(dst, currentPidProfile->d_max_gain);
sbufWriteU8(dst, currentPidProfile->d_max_advance);
#else
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
@ -2197,8 +2197,8 @@ static void readSimplifiedPids(pidProfile_t* pidProfile, sbuf_t *src)
pidProfile->simplified_i_gain = sbufReadU8(src);
pidProfile->simplified_d_gain = sbufReadU8(src);
pidProfile->simplified_pi_gain = sbufReadU8(src);
#ifdef USE_D_MIN
pidProfile->simplified_dmin_ratio = sbufReadU8(src);
#ifdef USE_D_MAX
pidProfile->simplified_d_max_gain = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
@ -2217,8 +2217,8 @@ static void writeSimplifiedPids(const pidProfile_t *pidProfile, sbuf_t *dst)
sbufWriteU8(dst, pidProfile->simplified_i_gain);
sbufWriteU8(dst, pidProfile->simplified_d_gain);
sbufWriteU8(dst, pidProfile->simplified_pi_gain);
#ifdef USE_D_MIN
sbufWriteU8(dst, pidProfile->simplified_dmin_ratio);
#ifdef USE_D_MAX
sbufWriteU8(dst, pidProfile->simplified_d_max_gain);
#else
sbufWriteU8(dst, 0);
#endif
@ -2307,7 +2307,7 @@ static void writePidfs(pidProfile_t* pidProfile, sbuf_t *dst)
sbufWriteU8(dst, pidProfile->pid[i].P);
sbufWriteU8(dst, pidProfile->pid[i].I);
sbufWriteU8(dst, pidProfile->pid[i].D);
sbufWriteU8(dst, pidProfile->d_min[i]);
sbufWriteU8(dst, pidProfile->d_max[i]);
sbufWriteU16(dst, pidProfile->pid[i].F);
}
}
@ -2495,7 +2495,7 @@ static mspResult_e mspFcProcessOutCommandWithArg(mspDescriptor_t srcDesc, int16_
tempPidProfile.pid[i].P == currentPidProfile->pid[i].P &&
tempPidProfile.pid[i].I == currentPidProfile->pid[i].I &&
tempPidProfile.pid[i].D == currentPidProfile->pid[i].D &&
tempPidProfile.d_min[i] == currentPidProfile->d_min[i] &&
tempPidProfile.d_max[i] == currentPidProfile->d_max[i] &&
tempPidProfile.pid[i].F == currentPidProfile->pid[i].F;
}
@ -3197,12 +3197,12 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
}
if (sbufBytesRemaining(src) >= 7) {
// Added in MSP API 1.41
#if defined(USE_D_MIN)
currentPidProfile->d_min[PID_ROLL] = sbufReadU8(src);
currentPidProfile->d_min[PID_PITCH] = sbufReadU8(src);
currentPidProfile->d_min[PID_YAW] = sbufReadU8(src);
currentPidProfile->d_min_gain = sbufReadU8(src);
currentPidProfile->d_min_advance = sbufReadU8(src);
#ifdef USE_D_MAX
currentPidProfile->d_max[PID_ROLL] = sbufReadU8(src);
currentPidProfile->d_max[PID_PITCH] = sbufReadU8(src);
currentPidProfile->d_max[PID_YAW] = sbufReadU8(src);
currentPidProfile->d_max_gain = sbufReadU8(src);
currentPidProfile->d_max_advance = sbufReadU8(src);
#else
sbufReadU8(src);
sbufReadU8(src);