Merge pull request #7737 from joelucid/remove_ff

remove smart_feedforward

src/main/cli/settings.c

@@ -932,9 +932,6 @@ const clivalue_t valueTable[] = {
     { "crash_recovery",             VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_CRASH_RECOVERY }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_recovery) },
 
     { "iterm_rotation",             VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_rotation) },
-#if defined(USE_SMART_FEEDFORWARD)
-    { "smart_feedforward",          VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, smart_feedforward) },
-#endif
 #if defined(USE_ITERM_RELAX)
     { "iterm_relax",                VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ITERM_RELAX }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_relax) },
     { "iterm_relax_type",           VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ITERM_RELAX_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_relax_type) },

src/main/flight/pid.c

@@ -127,7 +127,7 @@ static FAST_RAM_ZERO_INIT float airmodeThrottleOffsetLimit;
 
 #define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
 
-PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 9);
+PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 10);
 
 void resetPidProfile(pidProfile_t *pidProfile)
 {
@@ -168,7 +168,6 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .throttle_boost = 5,
         .throttle_boost_cutoff = 15,
         .iterm_rotation = false,
-        .smart_feedforward = false,
         .iterm_relax = ITERM_RELAX_RP,
         .iterm_relax_cutoff = ITERM_RELAX_CUTOFF_DEFAULT,
         .iterm_relax_type = ITERM_RELAX_SETPOINT,
@@ -500,10 +499,6 @@ pt1Filter_t throttleLpf;
 #endif
 static FAST_RAM_ZERO_INIT bool itermRotation;
 
-#if defined(USE_SMART_FEEDFORWARD)
-static FAST_RAM_ZERO_INIT bool smartFeedforward;
-#endif
-
 #ifdef USE_LAUNCH_CONTROL
 static FAST_RAM_ZERO_INIT uint8_t launchControlMode;
 static FAST_RAM_ZERO_INIT uint8_t launchControlAngleLimit;
@@ -618,10 +613,6 @@ void pidInitConfig(const pidProfile_t *pidProfile)
         antiGravityOsdCutoff += ((itermAcceleratorGain - 1000) / 1000.0f) * 0.25f;
     }
 
-#if defined(USE_SMART_FEEDFORWARD)
-    smartFeedforward = pidProfile->smart_feedforward;
-#endif
-
 #if defined(USE_ITERM_RELAX)
     itermRelax = pidProfile->iterm_relax;
     itermRelaxType = pidProfile->iterm_relax_type;
@@ -1056,21 +1047,6 @@ float FAST_CODE applyRcSmoothingDerivativeFilter(int axis, float pidSetpointDelt
 }
 #endif // USE_RC_SMOOTHING_FILTER
 
-#ifdef USE_SMART_FEEDFORWARD
-void FAST_CODE applySmartFeedforward(int axis)
-{
-    if (smartFeedforward) {
-        if (pidData[axis].P * pidData[axis].F > 0) {
-            if (fabsf(pidData[axis].F) > fabsf(pidData[axis].P)) {
-                pidData[axis].P = 0;
-            } else {
-                pidData[axis].F = 0;
-            }
-        }
-    }
-}
-#endif // USE_SMART_FEEDFORWARD
-
 #if defined(USE_ITERM_RELAX)
 #if defined(USE_ABSOLUTE_CONTROL)
 STATIC_UNIT_TESTED void applyAbsoluteControl(const int axis, const float gyroRate, float *currentPidSetpoint, float *itermErrorRate)
@@ -1427,10 +1403,6 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
             // no transition if feedForwardTransition == 0
             float transition = feedForwardTransition > 0 ? MIN(1.f, getRcDeflectionAbs(axis) * feedForwardTransition) : 1;
             pidData[axis].F = feedforwardGain * transition * pidSetpointDelta * pidFrequency;
-
-#if defined(USE_SMART_FEEDFORWARD)
-            applySmartFeedforward(axis);
-#endif
         } else {
             pidData[axis].F = 0;
         }

src/main/flight/pid.h

@@ -139,7 +139,6 @@ typedef struct pidProfile_s {
     uint8_t throttle_boost;                 // how much should throttle be boosted during transient changes 0-100, 100 adds 10x hpf filtered throttle
     uint8_t throttle_boost_cutoff;          // Which cutoff frequency to use for throttle boost. higher cutoffs keep the boost on for shorter. Specified in hz.
     uint8_t iterm_rotation;                 // rotates iterm to translate world errors to local coordinate system
-    uint8_t smart_feedforward;              // takes only the larger of P and the D weight feed forward term if they have the same sign.
     uint8_t iterm_relax_type;               // Specifies type of relax algorithm
     uint8_t iterm_relax_cutoff;             // This cutoff frequency specifies a low pass filter which predicts average response of the quad to setpoint
     uint8_t iterm_relax;                    // Enable iterm suppression during stick input

src/main/msp/msp.c

@@ -1440,11 +1440,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
         sbufWriteU16(dst, currentPidProfile->itermAcceleratorGain);
         sbufWriteU16(dst, 0); // was currentPidProfile->dtermSetpointWeight
         sbufWriteU8(dst, currentPidProfile->iterm_rotation);
-#if defined(USE_SMART_FEEDFORWARD)
-        sbufWriteU8(dst, currentPidProfile->smart_feedforward);
-#else
         sbufWriteU8(dst, 0);
-#endif
 #if defined(USE_ITERM_RELAX)
         sbufWriteU8(dst, currentPidProfile->iterm_relax);
         sbufWriteU8(dst, currentPidProfile->iterm_relax_type);
@@ -2113,11 +2109,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         if (sbufBytesRemaining(src) >= 14) {
             // Added in MSP API 1.40
             currentPidProfile->iterm_rotation = sbufReadU8(src);
-#if defined(USE_SMART_FEEDFORWARD)
-            currentPidProfile->smart_feedforward = sbufReadU8(src);
-#else
             sbufReadU8(src);
-#endif
 #if defined(USE_ITERM_RELAX)
             currentPidProfile->iterm_relax = sbufReadU8(src);
             currentPidProfile->iterm_relax_type = sbufReadU8(src);

src/main/target/common_pre.h

@@ -295,7 +295,6 @@
 #define USE_ESCSERIAL_SIMONK
 #define USE_SERIAL_4WAY_SK_BOOTLOADER
 #define USE_CMS_FAILSAFE_MENU
-#define USE_SMART_FEEDFORWARD
 #define USE_TELEMETRY_SENSORS_DISABLED_DETAILS
 // Re-enable this after 4.0 has been released, and remove the define from STM32F4DISCOVERY
 //#define USE_VTX_TABLE

src/test/unit/pid_unittest.cc

@@ -130,7 +130,6 @@ void setDefaultTestSettings(void) {
     pidProfile->throttle_boost = 0;
     pidProfile->throttle_boost_cutoff = 15;
     pidProfile->iterm_rotation = false;
-    pidProfile->smart_feedforward = false,
     pidProfile->iterm_relax = ITERM_RELAX_OFF,
     pidProfile->iterm_relax_cutoff = 11,
     pidProfile->iterm_relax_type = ITERM_RELAX_SETPOINT,