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pid slider support with changed defaults

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This commit is contained in:
ctzsnooze 2021-09-26 15:05:05 +10:00
parent a2bbd31c9c
commit 90a2057179
10 changed files with 82 additions and 66 deletions
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18
src/main/flight/pid.c
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@ -121,7 +121,7 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
#define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 2);
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 3);
void resetPidProfile(pidProfile_t *pidProfile)
{
@ -210,21 +210,25 @@ void resetPidProfile(pidProfile_t *pidProfile)
.dyn_lpf_curve_expo = 5,
.level_race_mode = false,
.vbat_sag_compensation = 0,
.simplified_pids_mode = PID_SIMPLIFIED_TUNING_OFF,
.simplified_pids_mode = PID_SIMPLIFIED_TUNING_RPY,
.simplified_master_multiplier = SIMPLIFIED_TUNING_DEFAULT,
.simplified_roll_pitch_ratio = SIMPLIFIED_TUNING_DEFAULT,
.simplified_roll_pitch_ratio = SIMPLIFIED_TUNING_PITCH_D_DEFAULT,
.simplified_i_gain = SIMPLIFIED_TUNING_DEFAULT,
.simplified_pd_ratio = SIMPLIFIED_TUNING_DEFAULT,
.simplified_pd_gain = SIMPLIFIED_TUNING_DEFAULT,
.simplified_dmin_ratio = SIMPLIFIED_TUNING_DEFAULT,
.simplified_d_gain = SIMPLIFIED_TUNING_D_DEFAULT,
.simplified_pi_gain = SIMPLIFIED_TUNING_DEFAULT,
.simplified_dmin_ratio = SIMPLIFIED_TUNING_D_DEFAULT,
.simplified_feedforward_gain = SIMPLIFIED_TUNING_DEFAULT,
.simplified_dterm_filter = false,
.simplified_pitch_pi_gain = SIMPLIFIED_TUNING_PITCH_P_DEFAULT,
.simplified_dterm_filter = true,
.simplified_dterm_filter_multiplier = SIMPLIFIED_TUNING_DEFAULT,
);
#ifndef USE_D_MIN
pidProfile->pid[PID_ROLL].D = 30;
pidProfile->pid[PID_PITCH].D = 32;
#endif
#ifdef USE_SIMPLIFIED_TUNING
applySimplifiedTuning(pidProfile);
#endif
}
void pgResetFn_pidProfiles(pidProfile_t *pidProfiles)