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Code Issues Wiki Activity

consistent gyro and dterm filter names

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This commit is contained in:
ctzsnooze 2021-09-27 09:12:00 +10:00
parent 8702bba3ec
commit 99a7479b8c
16 changed files with 219 additions and 219 deletions
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24
src/main/flight/pid.h
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@ -37,7 +37,7 @@
#define PIDSUM_LIMIT_MAX 1000
#define PID_GAIN_MAX 250
#define F_GAIN_MAX 2000
#define F_GAIN_MAX 1000
#define D_MIN_GAIN_MAX 250
// Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float
@ -63,9 +63,9 @@
#define PID_YAW_DEFAULT { 45, 80, 0, 120 }
#define D_MIN_DEFAULT { 30, 30, 0 }
#define DYN_LPF_DTERM_MIN_HZ_DEFAULT 75
#define DYN_LPF_DTERM_MAX_HZ_DEFAULT 150
#define DTERM_LOWPASS_2_HZ_DEFAULT 150
#define DTERM_LPF1_DYN_MIN_HZ_DEFAULT 75
#define DTERM_LPF1_DYN_MAX_HZ_DEFAULT 150
#define DTERM_LPF2_HZ_DEFAULT 150
typedef enum {
PID_ROLL,
@ -132,13 +132,13 @@ typedef enum feedforwardAveraging_e {
typedef struct pidProfile_s {
uint16_t yaw_lowpass_hz; // Additional yaw filter when yaw axis too noisy
uint16_t dterm_lowpass_hz; // Delta Filter in hz
uint16_t dterm_lpf1_static_hz; // Static Dterm lowpass 1 filter cutoff value in hz
uint16_t dterm_notch_hz; // Biquad dterm notch hz
uint16_t dterm_notch_cutoff; // Biquad dterm notch low cutoff
pidf_t pid[PID_ITEM_COUNT];
uint8_t dterm_filter_type; // Filter selection for dterm
uint8_t dterm_lpf1_type; // Filter type for dterm lowpass 1
uint8_t itermWindupPointPercent; // iterm windup threshold, percent motor saturation
uint16_t pidSumLimit;
uint16_t pidSumLimitYaw;
@ -163,7 +163,7 @@ typedef struct pidProfile_s {
uint8_t crash_recovery_rate; // degree/second
uint16_t crash_limit_yaw; // limits yaw errorRate, so crashes don't cause huge throttle increase
uint16_t itermLimit;
uint16_t dterm_lowpass2_hz; // Extra PT1 Filter on D in hz
uint16_t dterm_lpf2_static_hz; // Static Dterm lowpass 2 filter cutoff value in hz
uint8_t crash_recovery; // off, on, on and beeps when it is in crash recovery mode
uint8_t throttle_boost; // how much should throttle be boosted during transient changes 0-100, 100 adds 10x hpf filtered throttle
uint8_t throttle_boost_cutoff; // Which cutoff frequency to use for throttle boost. higher cutoffs keep the boost on for shorter. Specified in hz.
@ -179,9 +179,9 @@ typedef struct pidProfile_s {
uint8_t abs_control_limit; // Limit to the correction
uint8_t abs_control_error_limit; // Limit to the accumulated error
uint8_t abs_control_cutoff; // Cutoff frequency for path estimation in abs control
uint8_t dterm_filter2_type; // Filter selection for 2nd dterm
uint16_t dyn_lpf_dterm_min_hz;
uint16_t dyn_lpf_dterm_max_hz;
uint8_t dterm_lpf2_type; // Filter type for 2nd dterm lowpass
uint16_t dterm_lpf1_dyn_min_hz; // Dterm lowpass filter 1 min hz when in dynamic mode
uint16_t dterm_lpf1_dyn_max_hz; // Dterm lowpass filter 1 max hz when in dynamic mode
uint8_t launchControlMode; // Whether launch control is limited to pitch only (launch stand or top-mount) or all axes (on battery)
uint8_t launchControlThrottlePercent; // Throttle percentage to trigger launch for launch control
uint8_t launchControlAngleLimit; // Optional launch control angle limit (requires ACC)
@ -204,14 +204,14 @@ typedef struct pidProfile_s {
uint8_t dyn_idle_d_gain; // D gain for corrections around rapid changes in rpm
uint8_t dyn_idle_max_increase; // limit on maximum possible increase in motor idle drive during active control
uint8_t feedforward_transition; // Feedforward attenuation around centre sticks
uint8_t feedforward_transition; // Feedforward attenuation around centre sticks
uint8_t feedforward_averaging; // Number of packets to average when averaging is on
uint8_t feedforward_smooth_factor; // Amount of lowpass type smoothing for feedforward steps
uint8_t feedforward_jitter_factor; // Number of RC steps below which to attenuate feedforward
uint8_t feedforward_boost; // amount of setpoint acceleration to add to feedforward, 10 means 100% added
uint8_t feedforward_max_rate_limit; // Maximum setpoint rate percentage for feedforward
uint8_t dyn_lpf_curve_expo; // set the curve for dynamic dterm lowpass filter
uint8_t dterm_lpf1_dyn_expo; // set the curve for dynamic dterm lowpass filter
uint8_t level_race_mode; // NFE race mode - when true pitch setpoint calculation is gyro based in level mode
uint8_t vbat_sag_compensation; // Reduce motor output by this percentage of the maximum compensation amount