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Merge pull request #9482 from ctzsnooze/Revert-iTerm-Relax

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Restore proper behaviour of iterm_relax_cutoff in setpoint mode
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Michael Keller 2020-02-17 08:11:26 +13:00 • committed by GitHub
commit c984107291
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4 changed files with 6 additions and 9 deletions
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2
src/main/cli/settings.c
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@ -1020,7 +1020,7 @@ const clivalue_t valueTable[] = {
#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) },
{ "iterm_relax_cutoff", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 1, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_relax_cutoff) },
{ "iterm_relax_cutoff", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 1, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_relax_cutoff) },
#endif
{ "iterm_windup", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 30, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermWindupPointPercent) },
{ "iterm_limit", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermLimit) },

2
src/main/cms/cms_menu_imu.c
View file

@ -461,7 +461,7 @@ static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
#ifdef USE_ITERM_RELAX
{ "I_RELAX", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_iterm_relax, ITERM_RELAX_COUNT - 1, lookupTableItermRelax }, 0 },
{ "I_RELAX TYPE", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_iterm_relax_type, ITERM_RELAX_TYPE_COUNT - 1, lookupTableItermRelaxType }, 0 },
{ "I_RELAX CUTOFF", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_iterm_relax_cutoff, 1, 100, 1 }, 0 },
{ "I_RELAX CUTOFF", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_iterm_relax_cutoff, 1, 50, 1 }, 0 },
#endif
#ifdef USE_LAUNCH_CONTROL
{"LAUNCH CONTROL", OME_Submenu, cmsMenuChange, &cmsx_menuLaunchControl, 0 },

5
src/main/flight/pid.c
View file

@ -283,7 +283,6 @@ static FAST_RAM_ZERO_INIT pt1Filter_t windupLpf[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT uint8_t itermRelax;
static FAST_RAM_ZERO_INIT uint8_t itermRelaxType;
static uint8_t itermRelaxCutoff;
static FAST_RAM_ZERO_INIT float itermRelaxSetpointThreshold;
#endif
#if defined(USE_ABSOLUTE_CONTROL)
@ -668,8 +667,6 @@ void pidInitConfig(const pidProfile_t *pidProfile)
itermRelax = pidProfile->iterm_relax;
itermRelaxType = pidProfile->iterm_relax_type;
itermRelaxCutoff = pidProfile->iterm_relax_cutoff;
// adapt setpoint threshold to user changes from default cutoff value
itermRelaxSetpointThreshold = ITERM_RELAX_SETPOINT_THRESHOLD * ITERM_RELAX_CUTOFF_DEFAULT / itermRelaxCutoff;
#endif
#ifdef USE_ACRO_TRAINER
@ -1166,7 +1163,7 @@ STATIC_UNIT_TESTED void applyItermRelax(const int axis, const float iterm,
if (itermRelax) {
if (axis < FD_YAW || itermRelax == ITERM_RELAX_RPY || itermRelax == ITERM_RELAX_RPY_INC) {
const float itermRelaxFactor = MAX(0, 1 - setpointHpf / itermRelaxSetpointThreshold);
const float itermRelaxFactor = MAX(0, 1 - setpointHpf / ITERM_RELAX_SETPOINT_THRESHOLD);
const bool isDecreasingI =
((iterm > 0) && (*itermErrorRate < 0)) || ((iterm < 0) && (*itermErrorRate > 0));
if ((itermRelax >= ITERM_RELAX_RP_INC) && isDecreasingI) {

6
src/test/unit/pid_unittest.cc
View file

@ -542,9 +542,9 @@ TEST(pidControllerTest, testItermRelax) {
EXPECT_NEAR(-8.16, itermErrorRate, calculateTolerance(-8.16));
currentPidSetpoint += ITERM_RELAX_SETPOINT_THRESHOLD;
applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_NEAR(-2.69, itermErrorRate, calculateTolerance(-2.69));
EXPECT_NEAR(0, itermErrorRate, calculateTolerance(0));
applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_NEAR(-0.84, itermErrorRate, calculateTolerance(-0.84));
EXPECT_NEAR(0, itermErrorRate, calculateTolerance(0));
pidProfile->iterm_relax_type = ITERM_RELAX_GYRO;
pidInit(pidProfile);
@ -588,7 +588,7 @@ TEST(pidControllerTest, testItermRelax) {
pidProfile->iterm_relax = ITERM_RELAX_RPY;
pidInit(pidProfile);
applyItermRelax(FD_YAW, pidData[FD_YAW].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_NEAR(-6.46, itermErrorRate, calculateTolerance(-3.6));
EXPECT_NEAR(-3.6, itermErrorRate, calculateTolerance(-3.6));
}
// TODO - Add more tests