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Finalisation of Betaflight PID controller // RC smoothing added back

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borisbstyle 2016-07-27 14:30:51 +02:00
parent 6e99489200
commit c11c50287e
10 changed files with 186 additions and 153 deletions
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21
src/main/io/serial_cli.c
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@ -468,6 +468,9 @@ static const char * const lookupTableDebug[DEBUG_COUNT] = {
"AIRMODE",
"PIDLOOP",
"NOTCH",
"RC_SMOOTHING",
"VELOCITY",
"DFILTER",
};
#ifdef OSD
@ -486,10 +489,14 @@ static const char * const lookupTablePwmProtocol[] = {
"OFF", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED"
};
static const char * const lookupDeltaMethod[] = {
static const char * const lookupTableDeltaMethod[] = {
"ERROR", "MEASUREMENT"
};
static const char * const lookupTableRcSmoothing[] = {
"OFF", "DEFAULT", "AUTO", "MANUAL"
};
typedef struct lookupTableEntry_s {
const char * const *values;
const uint8_t valueCount;
@ -526,6 +533,7 @@ typedef enum {
TABLE_SUPEREXPO_YAW,
TABLE_MOTOR_PWM_PROTOCOL,
TABLE_DELTA_METHOD,
TABLE_RC_SMOOTHING,
#ifdef OSD
TABLE_OSD,
#endif
@ -561,7 +569,8 @@ static const lookupTableEntry_t lookupTables[] = {
{ lookupTableDebug, sizeof(lookupTableDebug) / sizeof(char *) },
{ lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) },
{ lookupTablePwmProtocol, sizeof(lookupTablePwmProtocol) / sizeof(char *) },
{ lookupDeltaMethod, sizeof(lookupDeltaMethod) / sizeof(char *) },
{ lookupTableDeltaMethod, sizeof(lookupTableDeltaMethod) / sizeof(char *) },
{ lookupTableRcSmoothing, sizeof(lookupTableRcSmoothing) / sizeof(char *) },
#ifdef OSD
{ lookupTableOsdType, sizeof(lookupTableOsdType) / sizeof(char *) },
#endif
@ -621,7 +630,8 @@ const clivalue_t valueTable[] = {
{ "max_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.maxcheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "rssi_channel", VAR_INT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_channel, .config.minmax = { 0, MAX_SUPPORTED_RC_CHANNEL_COUNT } },
{ "rssi_scale", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_scale, .config.minmax = { RSSI_SCALE_MIN, RSSI_SCALE_MAX } },
{ "rc_smooth_interval_ms", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.rcSmoothInterval, .config.minmax = { 0, 255 } },
{ "rc_smoothing", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.rcSmoothing, .config.lookup = { TABLE_RC_SMOOTHING } },
{ "rc_smooth_interval_ms", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.rcSmoothInterval, .config.minmax = { 1, 50 } },
{ "rssi_ppm_invert", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.rssi_ppm_invert, .config.lookup = { TABLE_OFF_ON } },
{ "input_filtering_mode", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.inputFilteringMode, .config.lookup = { TABLE_OFF_ON } },
{ "roll_yaw_cam_mix_degrees", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.fpvCamAngleDegrees, .config.minmax = { 0, 50 } },
@ -807,11 +817,14 @@ const clivalue_t valueTable[] = {
{ "dterm_lowpass", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
{ "vbat_pid_compensation", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
{ "zero_throttle_stabilisation",VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.zeroThrottleStabilisation, .config.lookup = { TABLE_OFF_ON } },
{ "motor_accel_limit_percent", VAR_UINT16 | MASTER_VALUE, &masterConfig.profile[0].pidProfile.accelerationLimitPercent, .config.minmax = { 0, 10000 } },
{ "pid_tolerance_band", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.toleranceBand, .config.minmax = {0, 200 } },
{ "tolerance_band_reduction", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.toleranceBandReduction, .config.minmax = {0, 100 } },
{ "zero_cross_allowance", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.zeroCrossAllowanceCount, .config.minmax = {0, 50 } },
{ "iterm_throttle_gain", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleGain, .config.minmax = {0, 200 } },
{ "pterm_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.ptermSetpointWeight, .config.minmax = {30, 100 } },
{ "dterm_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 200 } },
{ "pid_max_velocity", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidMaxVelocity, .config.minmax = {0, 2000 } },
{ "pid_max_velocity_yaw", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidMaxVelocityYaw, .config.minmax = {0, 2000 } },
{ "iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
{ "yaw_iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },