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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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6
src/main/cli/settings.c
View file

@ -1007,9 +1007,9 @@ const clivalue_t valueTable[] = {
#endif #endif
#ifdef USE_D_MIN #ifdef USE_D_MIN
{ "d_min_roll", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min_roll) }, { "d_min_roll", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min[FD_ROLL]) },
{ "d_min_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min_pitch) }, { "d_min_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min[FD_PITCH]) },
{ "d_min_yaw", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min_yaw) }, { "d_min_yaw", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min[FD_YAW]) },
{ "d_min_boost_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min_gain) }, { "d_min_boost_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min_gain) },
{ "d_min_advance", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min_advance) }, { "d_min_advance", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, d_min_advance) },
#endif #endif

41
src/main/cms/cms_menu_imu.c
View file

@ -328,6 +328,9 @@ static uint16_t cmsx_itermAcceleratorGain;
static uint16_t cmsx_itermThrottleThreshold; static uint16_t cmsx_itermThrottleThreshold;
static uint8_t cmsx_motorOutputLimit; static uint8_t cmsx_motorOutputLimit;
static int8_t cmsx_autoProfileCellCount; static int8_t cmsx_autoProfileCellCount;
#ifdef USE_D_MIN
static uint8_t cmsx_d_min[XYZ_AXIS_COUNT];
#endif
static long cmsx_profileOtherOnEnter(void) static long cmsx_profileOtherOnEnter(void)
{ {
@ -348,6 +351,12 @@ static long cmsx_profileOtherOnEnter(void)
cmsx_motorOutputLimit = pidProfile->motor_output_limit; cmsx_motorOutputLimit = pidProfile->motor_output_limit;
cmsx_autoProfileCellCount = pidProfile->auto_profile_cell_count; cmsx_autoProfileCellCount = pidProfile->auto_profile_cell_count;
#ifdef USE_D_MIN
for (unsigned i = 0; i < XYZ_AXIS_COUNT; i++) {
cmsx_d_min[i] = pidProfile->d_min[i];
}
#endif
return 0; return 0;
} }
@ -370,6 +379,12 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
pidProfile->motor_output_limit = cmsx_motorOutputLimit; pidProfile->motor_output_limit = cmsx_motorOutputLimit;
pidProfile->auto_profile_cell_count = cmsx_autoProfileCellCount; pidProfile->auto_profile_cell_count = cmsx_autoProfileCellCount;
#ifdef USE_D_MIN
for (unsigned i = 0; i < XYZ_AXIS_COUNT; i++) {
pidProfile->d_min[i] = cmsx_d_min[i];
}
#endif
return 0; return 0;
} }
@ -392,6 +407,12 @@ static OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "AUTO CELL CNT", OME_INT8, NULL, &(OSD_INT8_t) { &cmsx_autoProfileCellCount, AUTO_PROFILE_CELL_COUNT_CHANGE, MAX_AUTO_DETECT_CELL_COUNT, 1}, 0 }, { "AUTO CELL CNT", OME_INT8, NULL, &(OSD_INT8_t) { &cmsx_autoProfileCellCount, AUTO_PROFILE_CELL_COUNT_CHANGE, MAX_AUTO_DETECT_CELL_COUNT, 1}, 0 },
#ifdef USE_D_MIN
{ "D_MIN_ROLL", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_d_min[FD_ROLL], 0, 100, 1 }, 0 },
{ "D_MIN_PITCH", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_d_min[FD_PITCH], 0, 100, 1 }, 0 },
{ "D_MIN_YAW", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_d_min[FD_YAW], 0, 100, 1 }, 0 },
#endif
{ "BACK", OME_Back, NULL, NULL, 0 }, { "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, NULL, NULL, 0 } { NULL, OME_END, NULL, NULL, 0 }
}; };
@ -560,11 +581,6 @@ static uint16_t cmsx_dterm_lowpass_hz;
static uint16_t cmsx_dterm_lowpass2_hz; static uint16_t cmsx_dterm_lowpass2_hz;
static uint16_t cmsx_dterm_notch_hz; static uint16_t cmsx_dterm_notch_hz;
static uint16_t cmsx_dterm_notch_cutoff; static uint16_t cmsx_dterm_notch_cutoff;
#ifdef USE_D_MIN
static uint8_t cmsx_d_min_roll;
static uint8_t cmsx_d_min_pitch;
static uint8_t cmsx_d_min_yaw;
#endif
static uint16_t cmsx_yaw_lowpass_hz; static uint16_t cmsx_yaw_lowpass_hz;
static long cmsx_FilterPerProfileRead(void) static long cmsx_FilterPerProfileRead(void)
@ -575,11 +591,6 @@ static long cmsx_FilterPerProfileRead(void)
cmsx_dterm_lowpass2_hz = pidProfile->dterm_lowpass2_hz; cmsx_dterm_lowpass2_hz = pidProfile->dterm_lowpass2_hz;
cmsx_dterm_notch_hz = pidProfile->dterm_notch_hz; cmsx_dterm_notch_hz = pidProfile->dterm_notch_hz;
cmsx_dterm_notch_cutoff = pidProfile->dterm_notch_cutoff; cmsx_dterm_notch_cutoff = pidProfile->dterm_notch_cutoff;
#ifdef USE_D_MIN
cmsx_d_min_roll = pidProfile->d_min_roll;
cmsx_d_min_pitch = pidProfile->d_min_pitch;
cmsx_d_min_yaw = pidProfile->d_min_yaw;
#endif
cmsx_yaw_lowpass_hz = pidProfile->yaw_lowpass_hz; cmsx_yaw_lowpass_hz = pidProfile->yaw_lowpass_hz;
return 0; return 0;
@ -595,11 +606,6 @@ static long cmsx_FilterPerProfileWriteback(const OSD_Entry *self)
pidProfile->dterm_lowpass2_hz = cmsx_dterm_lowpass2_hz; pidProfile->dterm_lowpass2_hz = cmsx_dterm_lowpass2_hz;
pidProfile->dterm_notch_hz = cmsx_dterm_notch_hz; pidProfile->dterm_notch_hz = cmsx_dterm_notch_hz;
pidProfile->dterm_notch_cutoff = cmsx_dterm_notch_cutoff; pidProfile->dterm_notch_cutoff = cmsx_dterm_notch_cutoff;
#ifdef USE_D_MIN
pidProfile->d_min_roll = cmsx_d_min_roll;
pidProfile->d_min_pitch = cmsx_d_min_pitch;
pidProfile->d_min_yaw = cmsx_d_min_yaw;
#endif
pidProfile->yaw_lowpass_hz = cmsx_yaw_lowpass_hz; pidProfile->yaw_lowpass_hz = cmsx_yaw_lowpass_hz;
return 0; return 0;
@ -613,11 +619,6 @@ static OSD_Entry cmsx_menuFilterPerProfileEntries[] =
{ "DTERM LPF2", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_lowpass2_hz, 0, 500, 1 }, 0 }, { "DTERM LPF2", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_lowpass2_hz, 0, 500, 1 }, 0 },
{ "DTERM NF", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_notch_hz, 0, 500, 1 }, 0 }, { "DTERM NF", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_notch_hz, 0, 500, 1 }, 0 },
{ "DTERM NFCO", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_notch_cutoff, 0, 500, 1 }, 0 }, { "DTERM NFCO", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_notch_cutoff, 0, 500, 1 }, 0 },
#ifdef USE_D_MIN
{ "D_MIN_ROLL", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_d_min_roll, 0, 100, 1 }, 0 },
{ "D_MIN_PITCH", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_d_min_pitch, 0, 100, 1 }, 0 },
{ "D_MIN_YAW", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_d_min_yaw, 0, 100, 1 }, 0 },
#endif
{ "YAW LPF", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_yaw_lowpass_hz, 0, 500, 1 }, 0 }, { "YAW LPF", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_yaw_lowpass_hz, 0, 500, 1 }, 0 },
{ "BACK", OME_Back, NULL, NULL, 0 }, { "BACK", OME_Back, NULL, NULL, 0 },
{ NULL, OME_END, NULL, NULL, 0 } { NULL, OME_END, NULL, NULL, 0 }

15
src/main/flight/pid.c
View file

@ -191,9 +191,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.use_integrated_yaw = false, .use_integrated_yaw = false,
.integrated_yaw_relax = 200, .integrated_yaw_relax = 200,
.thrustLinearization = 0, .thrustLinearization = 0,
.d_min_roll = 20, .d_min = { 20, 22, 0 }, // roll, pitch, yaw
.d_min_pitch = 22,
.d_min_yaw = 0,
.d_min_gain = 20, .d_min_gain = 20,
.d_min_advance = 20, .d_min_advance = 20,
.motor_output_limit = 100, .motor_output_limit = 100,
@ -277,7 +275,6 @@ static FAST_RAM_ZERO_INIT pt1Filter_t acLpf[XYZ_AXIS_COUNT];
#endif #endif
#if defined(USE_D_MIN) #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 biquadFilter_t dMinRange[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT pt1Filter_t dMinLowpass[XYZ_AXIS_COUNT]; static FAST_RAM_ZERO_INIT pt1Filter_t dMinLowpass[XYZ_AXIS_COUNT];
#endif #endif
@ -408,11 +405,8 @@ void pidInitFilters(const pidProfile_t *pidProfile)
} }
#endif #endif
#if defined(USE_D_MIN) #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 // 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 // in-flight adjustments and transition from 0 to > 0 in flight the feature
// won't work because the filter wasn't initialized. // won't work because the filter wasn't initialized.
@ -669,8 +663,9 @@ void pidInitConfig(const pidProfile_t *pidProfile)
#endif #endif
#if defined(USE_D_MIN) #if defined(USE_D_MIN)
for (int axis = FD_ROLL; axis <= FD_YAW; ++axis) { for (int axis = FD_ROLL; axis <= FD_YAW; ++axis) {
if ((dMin[axis] > 0) && (dMin[axis] < pidProfile->pid[axis].D)) { const uint8_t dMin = pidProfile->d_min[axis];
dMinPercent[axis] = dMin[axis] / (float)(pidProfile->pid[axis].D); if ((dMin > 0) && (dMin < pidProfile->pid[axis].D)) {
dMinPercent[axis] = dMin / (float)(pidProfile->pid[axis].D);
} else { } else {
dMinPercent[axis] = 0; dMinPercent[axis] = 0;
} }

4
src/main/flight/pid.h
View file

@ -160,9 +160,7 @@ typedef struct pidProfile_s {
uint8_t use_integrated_yaw; // Selects whether the yaw pidsum should integrated uint8_t use_integrated_yaw; // Selects whether the yaw pidsum should integrated
uint8_t integrated_yaw_relax; // Specifies how much integrated yaw should be reduced to offset the drag based yaw component uint8_t integrated_yaw_relax; // Specifies how much integrated yaw should be reduced to offset the drag based yaw component
uint8_t thrustLinearization; // Compensation factor for pid linearization uint8_t thrustLinearization; // Compensation factor for pid linearization
uint8_t d_min_roll; // Minimum D value on roll axis uint8_t d_min[XYZ_AXIS_COUNT]; // Minimum D value on each axis
uint8_t d_min_pitch; // Minimum D value on pitch axis
uint8_t d_min_yaw; // Minimum D value on yaw axis
uint8_t d_min_gain; // Gain factor for amount of gyro / setpoint activity required to boost D uint8_t d_min_gain; // Gain factor for amount of gyro / setpoint activity required to boost D
uint8_t d_min_advance; // Percentage multiplier for setpoint input to boost algorithm uint8_t d_min_advance; // Percentage multiplier for setpoint input to boost algorithm
uint8_t motor_output_limit; // Upper limit of the motor output (percent) uint8_t motor_output_limit; // Upper limit of the motor output (percent)