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Merge pull request #7737 from joelucid/remove_ff
remove smart_feedforward
This commit is contained in:
Michael Keller
GitHub
commit
c3d828e4b4
6 changed files with 1 additions and 43 deletions
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@ -932,9 +932,6 @@ const clivalue_t valueTable[] = {
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{ "crash_recovery", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_CRASH_RECOVERY }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_recovery) },
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{ "iterm_rotation", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_rotation) },
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#if defined(USE_SMART_FEEDFORWARD)
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{ "smart_feedforward", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, smart_feedforward) },
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#endif
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#if defined(USE_ITERM_RELAX)
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{ "iterm_relax", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ITERM_RELAX }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_relax) },
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{ "iterm_relax_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ITERM_RELAX_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_relax_type) },
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@ -127,7 +127,7 @@ static FAST_RAM_ZERO_INIT float airmodeThrottleOffsetLimit;
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#define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
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PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 9);
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PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 10);
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void resetPidProfile(pidProfile_t *pidProfile)
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{
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@ -168,7 +168,6 @@ void resetPidProfile(pidProfile_t *pidProfile)
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.throttle_boost = 5,
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.throttle_boost_cutoff = 15,
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.iterm_rotation = false,
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.smart_feedforward = false,
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.iterm_relax = ITERM_RELAX_RP,
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.iterm_relax_cutoff = ITERM_RELAX_CUTOFF_DEFAULT,
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.iterm_relax_type = ITERM_RELAX_SETPOINT,
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@ -500,10 +499,6 @@ pt1Filter_t throttleLpf;
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#endif
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static FAST_RAM_ZERO_INIT bool itermRotation;
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#if defined(USE_SMART_FEEDFORWARD)
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static FAST_RAM_ZERO_INIT bool smartFeedforward;
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#endif
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#ifdef USE_LAUNCH_CONTROL
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static FAST_RAM_ZERO_INIT uint8_t launchControlMode;
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static FAST_RAM_ZERO_INIT uint8_t launchControlAngleLimit;
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@ -618,10 +613,6 @@ void pidInitConfig(const pidProfile_t *pidProfile)
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antiGravityOsdCutoff += ((itermAcceleratorGain - 1000) / 1000.0f) * 0.25f;
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}
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#if defined(USE_SMART_FEEDFORWARD)
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smartFeedforward = pidProfile->smart_feedforward;
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#endif
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#if defined(USE_ITERM_RELAX)
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itermRelax = pidProfile->iterm_relax;
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itermRelaxType = pidProfile->iterm_relax_type;
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@ -1056,21 +1047,6 @@ float FAST_CODE applyRcSmoothingDerivativeFilter(int axis, float pidSetpointDelt
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}
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#endif // USE_RC_SMOOTHING_FILTER
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#ifdef USE_SMART_FEEDFORWARD
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void FAST_CODE applySmartFeedforward(int axis)
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{
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if (smartFeedforward) {
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if (pidData[axis].P * pidData[axis].F > 0) {
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if (fabsf(pidData[axis].F) > fabsf(pidData[axis].P)) {
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pidData[axis].P = 0;
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} else {
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pidData[axis].F = 0;
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}
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}
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}
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}
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#endif // USE_SMART_FEEDFORWARD
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#if defined(USE_ITERM_RELAX)
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#if defined(USE_ABSOLUTE_CONTROL)
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STATIC_UNIT_TESTED void applyAbsoluteControl(const int axis, const float gyroRate, float *currentPidSetpoint, float *itermErrorRate)
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@ -1427,10 +1403,6 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
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// no transition if feedForwardTransition == 0
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float transition = feedForwardTransition > 0 ? MIN(1.f, getRcDeflectionAbs(axis) * feedForwardTransition) : 1;
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pidData[axis].F = feedforwardGain * transition * pidSetpointDelta * pidFrequency;
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#if defined(USE_SMART_FEEDFORWARD)
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applySmartFeedforward(axis);
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#endif
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} else {
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pidData[axis].F = 0;
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}
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@ -139,7 +139,6 @@ typedef struct pidProfile_s {
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uint8_t throttle_boost; // how much should throttle be boosted during transient changes 0-100, 100 adds 10x hpf filtered throttle
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uint8_t throttle_boost_cutoff; // Which cutoff frequency to use for throttle boost. higher cutoffs keep the boost on for shorter. Specified in hz.
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uint8_t iterm_rotation; // rotates iterm to translate world errors to local coordinate system
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uint8_t smart_feedforward; // takes only the larger of P and the D weight feed forward term if they have the same sign.
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uint8_t iterm_relax_type; // Specifies type of relax algorithm
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uint8_t iterm_relax_cutoff; // This cutoff frequency specifies a low pass filter which predicts average response of the quad to setpoint
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uint8_t iterm_relax; // Enable iterm suppression during stick input
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@ -1440,11 +1440,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
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sbufWriteU16(dst, currentPidProfile->itermAcceleratorGain);
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sbufWriteU16(dst, 0); // was currentPidProfile->dtermSetpointWeight
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sbufWriteU8(dst, currentPidProfile->iterm_rotation);
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#if defined(USE_SMART_FEEDFORWARD)
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sbufWriteU8(dst, currentPidProfile->smart_feedforward);
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#else
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sbufWriteU8(dst, 0);
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#endif
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#if defined(USE_ITERM_RELAX)
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sbufWriteU8(dst, currentPidProfile->iterm_relax);
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sbufWriteU8(dst, currentPidProfile->iterm_relax_type);
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@ -2113,11 +2109,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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if (sbufBytesRemaining(src) >= 14) {
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// Added in MSP API 1.40
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currentPidProfile->iterm_rotation = sbufReadU8(src);
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#if defined(USE_SMART_FEEDFORWARD)
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currentPidProfile->smart_feedforward = sbufReadU8(src);
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#else
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sbufReadU8(src);
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#endif
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#if defined(USE_ITERM_RELAX)
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currentPidProfile->iterm_relax = sbufReadU8(src);
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currentPidProfile->iterm_relax_type = sbufReadU8(src);
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@ -295,7 +295,6 @@
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#define USE_ESCSERIAL_SIMONK
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#define USE_SERIAL_4WAY_SK_BOOTLOADER
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#define USE_CMS_FAILSAFE_MENU
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#define USE_SMART_FEEDFORWARD
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#define USE_TELEMETRY_SENSORS_DISABLED_DETAILS
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// Re-enable this after 4.0 has been released, and remove the define from STM32F4DISCOVERY
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//#define USE_VTX_TABLE
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@ -130,7 +130,6 @@ void setDefaultTestSettings(void) {
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pidProfile->throttle_boost = 0;
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pidProfile->throttle_boost_cutoff = 15;
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pidProfile->iterm_rotation = false;
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pidProfile->smart_feedforward = false,
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pidProfile->iterm_relax = ITERM_RELAX_OFF,
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pidProfile->iterm_relax_cutoff = 11,
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pidProfile->iterm_relax_type = ITERM_RELAX_SETPOINT,
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