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Implement tuning sliders, add to CMS, MSP

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IvoFPV 2019-10-11 18:43:10 +02:00 • committed by Michael Keller
parent 3f116fd103
commit cff19dc113
14 changed files with 443 additions and 35 deletions
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25
src/main/flight/pid.c
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@ -33,6 +33,7 @@
#include "common/maths.h"
#include "config/config_reset.h"
#include "config/tuning_sliders.h"
#include "drivers/pwm_output.h"
#include "drivers/sound_beeper.h"
@ -127,9 +128,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
{
RESET_CONFIG(pidProfile_t, pidProfile,
.pid = {
[PID_ROLL] = { 42, 85, 35, 90 },
[PID_PITCH] = { 46, 90, 38, 95 },
[PID_YAW] = { 45, 90, 0, 90 },
[PID_ROLL] = PID_ROLL_DEFAULT,
[PID_PITCH] = PID_PITCH_DEFAULT,
[PID_YAW] = PID_YAW_DEFAULT,
[PID_LEVEL] = { 50, 50, 75, 0 },
[PID_MAG] = { 40, 0, 0, 0 },
},
@ -177,11 +178,11 @@ void resetPidProfile(pidProfile_t *pidProfile)
// overridden and the static lowpass 1 is disabled. We can't set this
// value to 0 otherwise Configurator versions 10.4 and earlier will also
// reset the lowpass filter type to PT1 overriding the desired BIQUAD setting.
.dterm_lowpass2_hz = 150, // second Dterm LPF ON by default
.dterm_lowpass2_hz = DTERM_LOWPASS_2_HZ_DEFAULT, // second Dterm LPF ON by default
.dterm_filter_type = FILTER_PT1,
.dterm_filter2_type = FILTER_PT1,
.dyn_lpf_dterm_min_hz = 70,
.dyn_lpf_dterm_max_hz = 170,
.dyn_lpf_dterm_min_hz = DYN_LPF_DTERM_MIN_HZ_DEFAULT,
.dyn_lpf_dterm_max_hz = DYN_LPF_DTERM_MAX_HZ_DEFAULT,
.launchControlMode = LAUNCH_CONTROL_MODE_NORMAL,
.launchControlThrottlePercent = 20,
.launchControlAngleLimit = 0,
@ -190,7 +191,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.use_integrated_yaw = false,
.integrated_yaw_relax = 200,
.thrustLinearization = 0,
.d_min = { 23, 25, 0 }, // roll, pitch, yaw
.d_min = D_MIN_DEFAULT,
.d_min_gain = 37,
.d_min_advance = 20,
.motor_output_limit = 100,
@ -209,6 +210,16 @@ void resetPidProfile(pidProfile_t *pidProfile)
.dyn_lpf_curve_expo = 5,
.level_race_mode = false,
.vbat_sag_compensation = 0,
.slider_pids_mode = PID_TUNING_SLIDERS_OFF,
.slider_master_multiplier = 100,
.slider_roll_pitch_ratio = 100,
.slider_i_gain = 100,
.slider_pd_ratio = 100,
.slider_pd_gain = 100,
.slider_dmin_ratio = 100,
.slider_ff_gain = 100,
.slider_dterm_filter = true,
.slider_dterm_filter_multiplier = 100,
);
#ifndef USE_D_MIN
pidProfile->pid[PID_ROLL].D = 30;