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Merge pull request #10727 from ctzsnooze/PT2-PT3-options-for-filters
This commit is contained in:
Michael Keller
GitHub
commit
b414be320f
29 changed files with 496 additions and 571 deletions
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@ -291,22 +291,18 @@ static const char * const lookupTablePwmProtocol[] = {
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"DISABLED"
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};
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static const char * const lookupTableRcInterpolation[] = {
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"OFF", "PRESET", "AUTO", "MANUAL"
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};
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static const char * const lookupTableRcInterpolationChannels[] = {
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"RP", "RPY", "RPYT", "T", "RPT",
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};
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static const char * const lookupTableLowpassType[] = {
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"PT1",
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"BIQUAD",
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"PT2",
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"PT3",
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};
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static const char * const lookupTableDtermLowpassType[] = {
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"PT1",
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"BIQUAD",
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"PT2",
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"PT3",
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};
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static const char * const lookupTableAntiGravityMode[] = {
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@ -406,9 +402,6 @@ static const char * const lookupTableAcroTrainerDebug[] = {
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#endif // USE_ACRO_TRAINER
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#ifdef USE_RC_SMOOTHING_FILTER
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static const char * const lookupTableRcSmoothingType[] = {
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"INTERPOLATION", "FILTER"
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};
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static const char * const lookupTableRcSmoothingDebug[] = {
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"ROLL", "PITCH", "YAW", "THROTTLE"
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};
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@ -479,8 +472,8 @@ static const char * const lookupTableOffOnAuto[] = {
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"OFF", "ON", "AUTO"
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};
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const char* const lookupTableInterpolatedSetpoint[] = {
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"OFF", "ON", "AVERAGED_2", "AVERAGED_3", "AVERAGED_4"
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const char* const lookupTableFeedforwardAveraging[] = {
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"NONE", "2_POINT", "3_POINT", "4_POINT"
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};
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static const char* const lookupTableDshotBitbangedTimer[] = {
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@ -551,8 +544,6 @@ const lookupTableEntry_t lookupTables[] = {
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#endif
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LOOKUP_TABLE_ENTRY(debugModeNames),
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LOOKUP_TABLE_ENTRY(lookupTablePwmProtocol),
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LOOKUP_TABLE_ENTRY(lookupTableRcInterpolation),
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LOOKUP_TABLE_ENTRY(lookupTableRcInterpolationChannels),
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LOOKUP_TABLE_ENTRY(lookupTableLowpassType),
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LOOKUP_TABLE_ENTRY(lookupTableDtermLowpassType),
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LOOKUP_TABLE_ENTRY(lookupTableAntiGravityMode),
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@ -597,7 +588,6 @@ const lookupTableEntry_t lookupTables[] = {
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LOOKUP_TABLE_ENTRY(lookupTableAcroTrainerDebug),
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#endif // USE_ACRO_TRAINER
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#ifdef USE_RC_SMOOTHING_FILTER
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LOOKUP_TABLE_ENTRY(lookupTableRcSmoothingType),
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LOOKUP_TABLE_ENTRY(lookupTableRcSmoothingDebug),
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#endif // USE_RC_SMOOTHING_FILTER
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#ifdef USE_VTX_COMMON
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@ -622,7 +612,7 @@ const lookupTableEntry_t lookupTables[] = {
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LOOKUP_TABLE_ENTRY(lookupTablePositionAltSource),
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LOOKUP_TABLE_ENTRY(lookupTableOffOnAuto),
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LOOKUP_TABLE_ENTRY(lookupTableInterpolatedSetpoint),
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LOOKUP_TABLE_ENTRY(lookupTableFeedforwardAveraging),
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LOOKUP_TABLE_ENTRY(lookupTableDshotBitbangedTimer),
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LOOKUP_TABLE_ENTRY(lookupTableOsdDisplayPortDevice),
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@ -733,16 +723,15 @@ const clivalue_t valueTable[] = {
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{ "rssi_offset", VAR_INT8 | MASTER_VALUE, .config.minmax = { -100, 100 }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_offset) },
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{ "rssi_invert", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_invert) },
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{ "rssi_src_frame_lpf_period", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_src_frame_lpf_period) },
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{ "rc_interp", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_INTERPOLATION }, PG_RX_CONFIG, offsetof(rxConfig_t, rcInterpolation) },
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{ "rc_interp_ch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_INTERPOLATION_CHANNELS }, PG_RX_CONFIG, offsetof(rxConfig_t, rcInterpolationChannels) },
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{ "rc_interp_int", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 1, 50 }, PG_RX_CONFIG, offsetof(rxConfig_t, rcInterpolationInterval) },
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#ifdef USE_RC_SMOOTHING_FILTER
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{ "rc_smoothing_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_SMOOTHING_TYPE }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_type) },
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{ "rc_smoothing_input_hz", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_input_cutoff) },
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{ "rc_smoothing_derivative_hz", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_derivative_cutoff) },
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{ "rc_smoothing_debug_axis", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_SMOOTHING_DEBUG }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_debug_axis) },
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{ "rc_smoothing_auto_smoothness",VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { RC_SMOOTHING_AUTO_FACTOR_MIN, RC_SMOOTHING_AUTO_FACTOR_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_auto_factor) },
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{ "rc_smoothing", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_mode) },
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{ "rc_smoothing_auto_factor", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { RC_SMOOTHING_AUTO_FACTOR_MIN, RC_SMOOTHING_AUTO_FACTOR_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_auto_factor_rpy) },
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{ "rc_smoothing_auto_factor_throttle", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { RC_SMOOTHING_AUTO_FACTOR_MIN, RC_SMOOTHING_AUTO_FACTOR_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_auto_factor_throttle) },
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{ "rc_smoothing_setpoint_cutoff", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_setpoint_cutoff) },
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{ "rc_smoothing_feedforward_cutoff",VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_feedforward_cutoff) },
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{ "rc_smoothing_throttle_cutoff", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_throttle_cutoff) },
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{ "rc_smoothing_debug_axis", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_SMOOTHING_DEBUG }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_debug_axis) },
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#endif // USE_RC_SMOOTHING_FILTER
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{ "fpv_mix_degrees", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 90 }, PG_RX_CONFIG, offsetof(rxConfig_t, fpvCamAngleDegrees) },
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@ -1062,7 +1051,7 @@ const clivalue_t valueTable[] = {
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{ "anti_gravity_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ANTI_GRAVITY_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, antiGravityMode) },
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{ "anti_gravity_threshold", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 20, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermThrottleThreshold) },
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{ "anti_gravity_gain", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { ITERM_ACCELERATOR_GAIN_OFF, ITERM_ACCELERATOR_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, itermAcceleratorGain) },
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{ "feedforward_transition", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedForwardTransition) },
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{ "feedforward_transition", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforwardTransition) },
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{ "acc_limit_yaw", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yawRateAccelLimit) },
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{ "acc_limit", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, rateAccelLimit) },
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{ "crash_dthreshold", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 10, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_dthreshold) },
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@ -1160,13 +1149,13 @@ const clivalue_t valueTable[] = {
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{ "transient_throttle_limit", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 30 }, PG_PID_PROFILE, offsetof(pidProfile_t, transient_throttle_limit) },
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#endif
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#ifdef USE_INTERPOLATED_SP
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{ "ff_interpolate_sp", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = {TABLE_INTERPOLATED_SP}, PG_PID_PROFILE, offsetof(pidProfile_t, ff_interpolate_sp) },
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{ "ff_max_rate_limit", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 150}, PG_PID_PROFILE, offsetof(pidProfile_t, ff_max_rate_limit) },
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{ "ff_smooth_factor", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 75}, PG_PID_PROFILE, offsetof(pidProfile_t, ff_smooth_factor) },
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{ "ff_jitter_reduction", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 20}, PG_PID_PROFILE, offsetof(pidProfile_t, ff_jitter_factor) },
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#ifdef USE_FEEDFORWARD
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{ "feedforward_averaging", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_FEEDFORWARD_AVERAGING }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_averaging) },
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{ "feedforward_smooth_factor", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 75}, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_smooth_factor) },
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{ "feedforward_jitter_reduction", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 20}, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_jitter_factor) },
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{ "feedforward_max_rate_limit", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 150}, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_max_rate_limit) },
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#endif
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{ "ff_boost", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, ff_boost) },
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{ "feedforward_boost", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_boost) },
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#ifdef USE_DYN_IDLE
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{ "dyn_idle_min_rpm", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_idle_min_rpm) },
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@ -1185,7 +1174,7 @@ const clivalue_t valueTable[] = {
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{ "simplified_pd_ratio", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_pd_ratio) },
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{ "simplified_pd_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_pd_gain) },
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{ "simplified_dmin_ratio", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_dmin_ratio) },
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{ "simplified_ff_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_ff_gain) },
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{ "simplified_feedforward_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_feedforward_gain) },
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{ "simplified_dterm_filter", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_dterm_filter) },
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{ "simplified_dterm_filter_multiplier", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_dterm_filter_multiplier) },
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