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Code Issues Wiki Activity

Discontinuity fix (#5509)

Browse source 
* use continuous feed-forward

* use continuous feed-forward

* formatting
This commit is contained in:
joelucid 2018-03-23 02:13:32 +01:00 • committed by Michael Keller
parent a0add440f0
commit 98a77dcd96
3 changed files with 60 additions and 43 deletions
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74
src/main/interface/settings.c
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@ -319,73 +319,77 @@ static const char * const lookupOverclock[] = {
};
#endif
#define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
const lookupTableEntry_t lookupTables[] = {
{ lookupTableOffOn, sizeof(lookupTableOffOn) / sizeof(char *) },
{ lookupTableUnit, sizeof(lookupTableUnit) / sizeof(char *) },
{ lookupTableAlignment, sizeof(lookupTableAlignment) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupTableOffOn),
LOOKUP_TABLE_ENTRY(lookupTableUnit),
LOOKUP_TABLE_ENTRY(lookupTableAlignment),
#ifdef USE_GPS
{ lookupTableGPSProvider, sizeof(lookupTableGPSProvider) / sizeof(char *) },
{ lookupTableGPSSBASMode, sizeof(lookupTableGPSSBASMode) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupTableGPSProvider),
LOOKUP_TABLE_ENTRY(lookupTableGPSSBASMode),
#endif
#ifdef USE_BLACKBOX
{ lookupTableBlackboxDevice, sizeof(lookupTableBlackboxDevice) / sizeof(char *) },
{ lookupTableBlackboxMode, sizeof(lookupTableBlackboxMode) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupTableBlackboxDevice),
LOOKUP_TABLE_ENTRY(lookupTableBlackboxMode),
#endif
{ currentMeterSourceNames, sizeof(currentMeterSourceNames) / sizeof(char *) },
{ voltageMeterSourceNames, sizeof(voltageMeterSourceNames) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(currentMeterSourceNames),
LOOKUP_TABLE_ENTRY(voltageMeterSourceNames),
#ifdef USE_SERVOS
{ lookupTableGimbalMode, sizeof(lookupTableGimbalMode) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupTableGimbalMode),
#endif
#ifdef USE_SERIAL_RX
{ lookupTableSerialRX, sizeof(lookupTableSerialRX) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupTableSerialRX),
#endif
#ifdef USE_RX_SPI
{ lookupTableRxSpi, sizeof(lookupTableRxSpi) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupTableRxSpi),
#endif
{ lookupTableGyroHardwareLpf, sizeof(lookupTableGyroHardwareLpf) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupTableGyroHardwareLpf),
#if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
{ lookupTableGyro32khzHardwareLpf, sizeof(lookupTableGyro32khzHardwareLpf) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupTableGyro32khzHardwareLpf),
#endif
{ lookupTableAccHardware, sizeof(lookupTableAccHardware) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupTableAccHardware),
#ifdef USE_BARO
{ lookupTableBaroHardware, sizeof(lookupTableBaroHardware) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupTableBaroHardware),
#endif
#ifdef USE_MAG
{ lookupTableMagHardware, sizeof(lookupTableMagHardware) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupTableMagHardware),
#endif
{ debugModeNames, sizeof(debugModeNames) / sizeof(char *) },
{ lookupTablePwmProtocol, sizeof(lookupTablePwmProtocol) / sizeof(char *) },
{ lookupTableRcInterpolation, sizeof(lookupTableRcInterpolation) / sizeof(char *) },
{ lookupTableRcInterpolationChannels, sizeof(lookupTableRcInterpolationChannels) / sizeof(char *) },
{ lookupTableLowpassType, sizeof(lookupTableLowpassType) / sizeof(char *) },
{ lookupTableDtermLowpassType, sizeof(lookupTableDtermLowpassType) / sizeof(char *) },
{ lookupTableFailsafe, sizeof(lookupTableFailsafe) / sizeof(char *) },
{ lookupTableCrashRecovery, sizeof(lookupTableCrashRecovery) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(debugModeNames),
LOOKUP_TABLE_ENTRY(lookupTablePwmProtocol),
LOOKUP_TABLE_ENTRY(lookupTableRcInterpolation),
LOOKUP_TABLE_ENTRY(lookupTableRcInterpolationChannels),
LOOKUP_TABLE_ENTRY(lookupTableLowpassType),
LOOKUP_TABLE_ENTRY(lookupTableDtermLowpassType),
LOOKUP_TABLE_ENTRY(lookupTableFailsafe),
LOOKUP_TABLE_ENTRY(lookupTableCrashRecovery),
#ifdef USE_CAMERA_CONTROL
{ lookupTableCameraControlMode, sizeof(lookupTableCameraControlMode) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupTableCameraControlMode),
#endif
{ lookupTableBusType, sizeof(lookupTableBusType) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupTableBusType),
#ifdef USE_MAX7456
{ lookupTableMax7456Clock, sizeof(lookupTableMax7456Clock) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupTableMax7456Clock),
#endif
#ifdef USE_RANGEFINDER
{ lookupTableRangefinderHardware, sizeof(lookupTableRangefinderHardware) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupTableRangefinderHardware),
#endif
#ifdef USE_GYRO_OVERFLOW_CHECK
{ lookupTableGyroOverflowCheck, sizeof(lookupTableGyroOverflowCheck) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupTableGyroOverflowCheck),
#endif
{ lookupTableRatesType, sizeof(lookupTableRatesType) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupTableRatesType),
#ifdef USE_OVERCLOCK
{ lookupOverclock, sizeof(lookupOverclock) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupOverclock),
#endif
#ifdef USE_LED_STRIP
{ lookupLedStripFormatRGB, sizeof(lookupLedStripFormatRGB) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupLedStripFormatRGB),
#endif
#ifdef USE_DUAL_GYRO
{ lookupTableGyro, sizeof(lookupTableGyro) / sizeof(char *) },
LOOKUP_TABLE_ENTRY(lookupTableGyro),
#endif
};
#undef LOOKUP_TABLE_ENTRY
const clivalue_t valueTable[] = {
// PG_GYRO_CONFIG
{ "align_gyro", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ALIGNMENT }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_align) },
@ -690,7 +694,7 @@ const clivalue_t valueTable[] = {
{ "pid_at_min_throttle", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, pidAtMinThrottle) },
{ "anti_gravity_threshold", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 20, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermThrottleThreshold) },
{ "anti_gravity_gain", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 1000, 30000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermAcceleratorGain) },
{ "setpoint_relax_ratio", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 1, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, setpointRelaxRatio) },
{ "setpoint_relax_ratio", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, setpointRelaxRatio) },
{ "dterm_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 254 }, PG_PID_PROFILE, offsetof(pidProfile_t, dtermSetpointWeight) },
{ "acc_limit_yaw", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yawRateAccelLimit) },
{ "acc_limit", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, rateAccelLimit) },