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Fix d adjustment (#13822)

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* fix D adjustments change dmax instead of D

* fix unit test

* add yaw and other adjustment cases

* fix tests
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MikeNomatter 2024-08-21 15:08:01 +02:00 • committed by GitHub
parent dd73ce4dd7
commit a232655b42
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2 changed files with 20 additions and 12 deletions
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18
src/main/fc/rc_adjustments.c
View file

@ -364,8 +364,8 @@ static int applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t a
break; break;
case ADJUSTMENT_PITCH_ROLL_D: case ADJUSTMENT_PITCH_ROLL_D:
case ADJUSTMENT_PITCH_D: case ADJUSTMENT_PITCH_D:
newValue = constrain((int)currentPidProfile->pid[PID_PITCH].D + delta, 0, 200); // FIXME magic numbers repeated in cli.c newValue = constrain((int)currentPidProfile->d_min[FD_PITCH] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
currentPidProfile->pid[PID_PITCH].D = newValue; currentPidProfile->d_min[FD_PITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_D) { if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
break; break;
@ -373,8 +373,8 @@ static int applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t a
// fall through for combined ADJUSTMENT_PITCH_ROLL_D // fall through for combined ADJUSTMENT_PITCH_ROLL_D
FALLTHROUGH; FALLTHROUGH;
case ADJUSTMENT_ROLL_D: case ADJUSTMENT_ROLL_D:
newValue = constrain((int)currentPidProfile->pid[PID_ROLL].D + delta, 0, 200); // FIXME magic numbers repeated in cli.c newValue = constrain((int)currentPidProfile->d_min[FD_ROLL] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
currentPidProfile->pid[PID_ROLL].D = newValue; currentPidProfile->d_min[FD_ROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
break; break;
case ADJUSTMENT_YAW_P: case ADJUSTMENT_YAW_P:
@ -388,8 +388,8 @@ static int applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t a
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_I, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_I, newValue);
break; break;
case ADJUSTMENT_YAW_D: case ADJUSTMENT_YAW_D:
newValue = constrain((int)currentPidProfile->pid[PID_YAW].D + delta, 0, 200); // FIXME magic numbers repeated in cli.c newValue = constrain((int)currentPidProfile->d_min[FD_YAW] + delta, 0, 200); // FIXME magic numbers repeated in cli.c
currentPidProfile->pid[PID_YAW].D = newValue; currentPidProfile->d_min[FD_YAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
break; break;
case ADJUSTMENT_RC_RATE_YAW: case ADJUSTMENT_RC_RATE_YAW:
@ -528,7 +528,7 @@ static int applyAbsoluteAdjustment(controlRateConfig_t *controlRateConfig, adjus
case ADJUSTMENT_PITCH_ROLL_D: case ADJUSTMENT_PITCH_ROLL_D:
case ADJUSTMENT_PITCH_D: case ADJUSTMENT_PITCH_D:
newValue = constrain(value, 0, 200); // FIXME magic numbers repeated in cli.c newValue = constrain(value, 0, 200); // FIXME magic numbers repeated in cli.c
currentPidProfile->pid[PID_PITCH].D = newValue; currentPidProfile->d_min[FD_PITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_D) { if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
break; break;
@ -537,7 +537,7 @@ static int applyAbsoluteAdjustment(controlRateConfig_t *controlRateConfig, adjus
FALLTHROUGH; FALLTHROUGH;
case ADJUSTMENT_ROLL_D: case ADJUSTMENT_ROLL_D:
newValue = constrain(value, 0, 200); // FIXME magic numbers repeated in cli.c newValue = constrain(value, 0, 200); // FIXME magic numbers repeated in cli.c
currentPidProfile->pid[PID_ROLL].D = newValue; currentPidProfile->d_min[FD_ROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
break; break;
case ADJUSTMENT_YAW_P: case ADJUSTMENT_YAW_P:
@ -552,7 +552,7 @@ static int applyAbsoluteAdjustment(controlRateConfig_t *controlRateConfig, adjus
break; break;
case ADJUSTMENT_YAW_D: case ADJUSTMENT_YAW_D:
newValue = constrain(value, 0, 200); // FIXME magic numbers repeated in cli.c newValue = constrain(value, 0, 200); // FIXME magic numbers repeated in cli.c
currentPidProfile->pid[PID_YAW].D = newValue; currentPidProfile->d_min[FD_YAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
break; break;
case ADJUSTMENT_RC_RATE_YAW: case ADJUSTMENT_RC_RATE_YAW:

14
src/test/unit/rc_controls_unittest.cc
View file

@ -549,6 +549,11 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
pidProfile.pid[PID_YAW].P = 7; pidProfile.pid[PID_YAW].P = 7;
pidProfile.pid[PID_YAW].I = 17; pidProfile.pid[PID_YAW].I = 17;
pidProfile.pid[PID_YAW].D = 27; pidProfile.pid[PID_YAW].D = 27;
pidProfile.d_min[FD_PITCH] = 19;
pidProfile.d_min[FD_ROLL] = 19;
pidProfile.d_min[FD_YAW] = 19;
// and // and
controlRateConfig_t controlRateConfig; controlRateConfig_t controlRateConfig;
memset(&controlRateConfig, 0, sizeof(controlRateConfig)); memset(&controlRateConfig, 0, sizeof(controlRateConfig));
@ -591,13 +596,16 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
// and // and
EXPECT_EQ(1, pidProfile.pid[PID_PITCH].P); EXPECT_EQ(1, pidProfile.pid[PID_PITCH].P);
EXPECT_EQ(11, pidProfile.pid[PID_PITCH].I); EXPECT_EQ(11, pidProfile.pid[PID_PITCH].I);
EXPECT_EQ(21, pidProfile.pid[PID_PITCH].D); EXPECT_EQ(20, pidProfile.pid[PID_PITCH].D);
EXPECT_EQ(20, pidProfile.d_min[FD_PITCH]);
EXPECT_EQ(6, pidProfile.pid[PID_ROLL].P); EXPECT_EQ(6, pidProfile.pid[PID_ROLL].P);
EXPECT_EQ(16, pidProfile.pid[PID_ROLL].I); EXPECT_EQ(16, pidProfile.pid[PID_ROLL].I);
EXPECT_EQ(26, pidProfile.pid[PID_ROLL].D); EXPECT_EQ(25, pidProfile.pid[PID_ROLL].D);
EXPECT_EQ(20, pidProfile.d_min[FD_ROLL]);
EXPECT_EQ(8, pidProfile.pid[PID_YAW].P); EXPECT_EQ(8, pidProfile.pid[PID_YAW].P);
EXPECT_EQ(18, pidProfile.pid[PID_YAW].I); EXPECT_EQ(18, pidProfile.pid[PID_YAW].I);
EXPECT_EQ(28, pidProfile.pid[PID_YAW].D); EXPECT_EQ(27, pidProfile.pid[PID_YAW].D);
EXPECT_EQ(20, pidProfile.d_min[FD_YAW]);
} }
extern "C" { extern "C" {