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D_MIN cleanup - use array for parameters; move CMS menu entries

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Change to using an array of `uint8_t` for the `d_min_` axis parameters. Simplifies the code.

The CMS menu entries were incorrectly placed under the `FILTER PP` submenu. Moved to the `MISC PP` submenu.
This commit is contained in:
Bruce Luckcuck 2019-02-09 15:40:27 -05:00
parent ca98ee7df0
commit a64bd06f5a
4 changed files with 30 additions and 36 deletions
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15
src/main/flight/pid.c
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@ -191,9 +191,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.use_integrated_yaw = false,
.integrated_yaw_relax = 200,
.thrustLinearization = 0,
.d_min_roll = 20,
.d_min_pitch = 22,
.d_min_yaw = 0,
.d_min = { 20, 22, 0 }, // roll, pitch, yaw
.d_min_gain = 20,
.d_min_advance = 20,
.motor_output_limit = 100,
@ -277,7 +275,6 @@ static FAST_RAM_ZERO_INIT pt1Filter_t acLpf[XYZ_AXIS_COUNT];
#endif
#if defined(USE_D_MIN)
static FAST_RAM_ZERO_INIT uint8_t dMin[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT biquadFilter_t dMinRange[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT pt1Filter_t dMinLowpass[XYZ_AXIS_COUNT];
#endif
@ -408,11 +405,8 @@ void pidInitFilters(const pidProfile_t *pidProfile)
}
#endif
#if defined(USE_D_MIN)
dMin[FD_ROLL] = pidProfile->d_min_roll;
dMin[FD_PITCH] = pidProfile->d_min_pitch;
dMin[FD_YAW] = pidProfile->d_min_yaw;
// Initialize the filters for all axis even if the dMin[axis] value is 0
// Initialize the filters for all axis even if the d_min[axis] value is 0
// Otherwise if the pidProfile->d_min_xxx parameters are ever added to
// in-flight adjustments and transition from 0 to > 0 in flight the feature
// won't work because the filter wasn't initialized.
@ -669,8 +663,9 @@ void pidInitConfig(const pidProfile_t *pidProfile)
#endif
#if defined(USE_D_MIN)
for (int axis = FD_ROLL; axis <= FD_YAW; ++axis) {
if ((dMin[axis] > 0) && (dMin[axis] < pidProfile->pid[axis].D)) {
dMinPercent[axis] = dMin[axis] / (float)(pidProfile->pid[axis].D);
const uint8_t dMin = pidProfile->d_min[axis];
if ((dMin > 0) && (dMin < pidProfile->pid[axis].D)) {
dMinPercent[axis] = dMin / (float)(pidProfile->pid[axis].D);
} else {
dMinPercent[axis] = 0;
}