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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.h
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@ -36,6 +36,10 @@
#define PIDSUM_LIMIT_MIN 100
#define PIDSUM_LIMIT_MAX 1000
#define PID_GAIN_MAX 200
#define F_GAIN_MAX 2000
#define D_MIN_GAIN_MAX 100
// Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float
#define PTERM_SCALE 0.032029f
#define ITERM_SCALE 0.244381f
@ -54,6 +58,15 @@
#define ITERM_ACCELERATOR_GAIN_OFF 0
#define ITERM_ACCELERATOR_GAIN_MAX 30000
#define PID_ROLL_DEFAULT { 42, 85, 35, 90 }
#define PID_PITCH_DEFAULT { 46, 90, 38, 95 }
#define PID_YAW_DEFAULT { 45, 90, 0, 90 }
#define D_MIN_DEFAULT { 23, 25, 0 }
#define DYN_LPF_DTERM_MIN_HZ_DEFAULT 70
#define DYN_LPF_DTERM_MAX_HZ_DEFAULT 170
#define DTERM_LOWPASS_2_HZ_DEFAULT 150
typedef enum {
PID_ROLL,
PID_PITCH,
@ -200,6 +213,18 @@ typedef struct pidProfile_s {
uint8_t dyn_lpf_curve_expo; // set the curve for dynamic dterm lowpass filter
uint8_t level_race_mode; // NFE race mode - when true pitch setpoint calcualtion is gyro based in level mode
uint8_t vbat_sag_compensation; // Reduce motor output by this percentage of the maximum compensation amount
uint8_t slider_pids_mode;
uint8_t slider_master_multiplier;
uint8_t slider_roll_pitch_ratio;
uint8_t slider_i_gain;
uint8_t slider_pd_ratio;
uint8_t slider_pd_gain;
uint8_t slider_dmin_ratio;
uint8_t slider_ff_gain;
uint8_t slider_dterm_filter;
uint8_t slider_dterm_filter_multiplier;
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);