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Merge pull request #10585 from knoopx/stuning-dmin-def

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hide DMIN RATIO unless USE_D_MIN
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J Blackman 2021-09-06 14:20:47 +10:00 • committed by GitHub
commit afe49c480f
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 26 additions and 2 deletions
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10
src/main/cms/cms_menu_imu.c
View file

@ -236,7 +236,9 @@ static uint8_t cmsx_simplified_roll_pitch_ratio;
static uint8_t cmsx_simplified_i_gain;
static uint8_t cmsx_simplified_pd_ratio;
static uint8_t cmsx_simplified_pd_gain;
#ifdef USE_D_MIN
static uint8_t cmsx_simplified_dmin_ratio;
#endif
static uint8_t cmsx_simplified_feedforward_gain;
static uint8_t cmsx_simplified_dterm_filter;
@ -256,7 +258,9 @@ static const void *cmsx_simplifiedTuningOnEnter(displayPort_t *pDisp)
cmsx_simplified_i_gain = pidProfile->simplified_i_gain;
cmsx_simplified_pd_ratio = pidProfile->simplified_pd_ratio;
cmsx_simplified_pd_gain = pidProfile->simplified_pd_gain;
#ifdef USE_D_MIN
cmsx_simplified_dmin_ratio = pidProfile->simplified_dmin_ratio;
#endif
cmsx_simplified_feedforward_gain = pidProfile->simplified_feedforward_gain;
cmsx_simplified_dterm_filter = pidProfile->simplified_dterm_filter;
@ -280,7 +284,9 @@ static const void *cmsx_simplifiedTuningOnExit(displayPort_t *pDisp, const OSD_E
pidProfile->simplified_i_gain = cmsx_simplified_i_gain;
pidProfile->simplified_pd_ratio = cmsx_simplified_pd_ratio;
pidProfile->simplified_pd_gain = cmsx_simplified_pd_gain;
#ifdef USE_D_MIN
pidProfile->simplified_dmin_ratio = cmsx_simplified_dmin_ratio;
#endif
pidProfile->simplified_feedforward_gain = cmsx_simplified_feedforward_gain;
pidProfile->simplified_dterm_filter = cmsx_simplified_dterm_filter;
@ -304,7 +310,9 @@ static const void *cmsx_applySimplifiedTuning(displayPort_t *pDisp, const void *
pidProfile->simplified_i_gain = cmsx_simplified_i_gain;
pidProfile->simplified_pd_ratio = cmsx_simplified_pd_ratio;
pidProfile->simplified_pd_gain = cmsx_simplified_pd_gain;
#ifdef USE_D_MIN
pidProfile->simplified_dmin_ratio = cmsx_simplified_dmin_ratio;
#endif
pidProfile->simplified_feedforward_gain = cmsx_simplified_feedforward_gain;
pidProfile->simplified_dterm_filter = cmsx_simplified_dterm_filter;
@ -326,7 +334,9 @@ static const OSD_Entry cmsx_menuSimplifiedTuningEntries[] =
{ "I GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_i_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "PD RATIO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_pd_ratio, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "PD GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_pd_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
#ifdef USE_D_MIN
{ "DMIN RATIO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_dmin_ratio, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
#endif
{ "FF GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_feedforward_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "-- SIMPLIFIED FILTER --", OME_Label, NULL, NULL, 0},

10
src/main/config/simplified_tuning.c
View file

@ -37,7 +37,10 @@ static void calculateNewPidValues(pidProfile_t *pidProfile)
[PID_PITCH] = PID_PITCH_DEFAULT,
[PID_YAW] = PID_YAW_DEFAULT,
};
#ifdef USE_D_MIN
const int dMinDefaults[FLIGHT_DYNAMICS_INDEX_COUNT] = D_MIN_DEFAULT;
#endif
const float masterMultiplier = pidProfile->simplified_master_multiplier / 100.0f;
const float feedforwardGain = pidProfile->simplified_feedforward_gain / 100.0f;
@ -47,16 +50,19 @@ static void calculateNewPidValues(pidProfile_t *pidProfile)
for (int axis = FD_ROLL; axis <= pidProfile->simplified_pids_mode; ++axis) {
const float rpRatio = (axis == FD_PITCH) ? pidProfile->simplified_roll_pitch_ratio / 100.0f : 1.0f;
const float dminRatio = 1.0f + (((float)pidDefaults[axis].D / dMinDefaults[axis] - 1.0f) * (pidProfile->simplified_dmin_ratio / 100.0f - 1.0f));
pidProfile->pid[axis].P = constrain(pidDefaults[axis].P * masterMultiplier * pdGain * pdRatio * rpRatio, 0, PID_GAIN_MAX);
pidProfile->pid[axis].I = constrain(pidDefaults[axis].I * masterMultiplier * iGain * rpRatio, 0, PID_GAIN_MAX);
pidProfile->pid[axis].D = constrain(pidDefaults[axis].D * masterMultiplier * pdGain * rpRatio, 0, PID_GAIN_MAX);
#ifdef USE_D_MIN
const float dminRatio = 1.0f + (((float)pidDefaults[axis].D / dMinDefaults[axis] - 1.0f) * (pidProfile->simplified_dmin_ratio / 100.0f - 1.0f));
if (pidProfile->simplified_dmin_ratio == SIMPLIFIED_TUNING_MAX) {
pidProfile->d_min[axis] = 0;
} else {
pidProfile->d_min[axis] = constrain(dMinDefaults[axis] * masterMultiplier * pdGain * rpRatio * dminRatio, 0, D_MIN_GAIN_MAX);
}
#endif
pidProfile->pid[axis].F = constrain(pidDefaults[axis].F * masterMultiplier * feedforwardGain * rpRatio, 0, F_GAIN_MAX);
}
}

8
src/main/msp/msp.c
View file

@ -2151,7 +2151,11 @@ static mspResult_e mspFcProcessOutCommandWithArg(mspDescriptor_t srcDesc, int16_
sbufWriteU8(dst, currentPidProfile->simplified_i_gain);
sbufWriteU8(dst, currentPidProfile->simplified_pd_ratio);
sbufWriteU8(dst, currentPidProfile->simplified_pd_gain);
#ifdef USE_D_MIN
sbufWriteU8(dst, currentPidProfile->simplified_dmin_ratio);
#else
sbufWriteU8(dst, 0);
#endif
sbufWriteU8(dst, currentPidProfile->simplified_feedforward_gain);
sbufWriteU8(dst, currentPidProfile->simplified_dterm_filter);
@ -3130,7 +3134,11 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
currentPidProfile->simplified_i_gain = sbufReadU8(src);
currentPidProfile->simplified_pd_ratio = sbufReadU8(src);
currentPidProfile->simplified_pd_gain = sbufReadU8(src);
#ifdef USE_D_MIN
currentPidProfile->simplified_dmin_ratio = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
currentPidProfile->simplified_feedforward_gain = sbufReadU8(src);
currentPidProfile->simplified_dterm_filter = sbufReadU8(src);