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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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8
src/main/sensors/gyro.c
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@ -114,7 +114,7 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
// value to 0 otherwise Configurator versions 10.4 and earlier will also
// reset the lowpass filter type to PT1 overriding the desired BIQUAD setting.
gyroConfig->gyro_lowpass2_type = FILTER_PT1;
gyroConfig->gyro_lowpass2_hz = 250;
gyroConfig->gyro_lowpass2_hz = GYRO_LOWPASS_2_HZ_DEFAULT;
gyroConfig->gyro_high_fsr = false;
gyroConfig->gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT;
gyroConfig->gyro_soft_notch_hz_1 = 0;
@ -125,14 +125,14 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
gyroConfig->gyro_offset_yaw = 0;
gyroConfig->yaw_spin_recovery = YAW_SPIN_RECOVERY_AUTO;
gyroConfig->yaw_spin_threshold = 1950;
gyroConfig->dyn_lpf_gyro_min_hz = 200;
gyroConfig->dyn_lpf_gyro_max_hz = 500;
gyroConfig->dyn_lpf_gyro_min_hz = DYN_LPF_GYRO_MIN_HZ_DEFAULT;
gyroConfig->dyn_lpf_gyro_max_hz = DYN_LPF_GYRO_MAX_HZ_DEFAULT;
gyroConfig->dyn_notch_max_hz = 600;
gyroConfig->dyn_notch_width_percent = 8;
gyroConfig->dyn_notch_q = 120;
gyroConfig->dyn_notch_min_hz = 150;
gyroConfig->gyro_filter_debug_axis = FD_ROLL;
gyroConfig->dyn_lpf_curve_expo = 5;
gyroConfig->dyn_lpf_curve_expo = 0;
}
#ifdef USE_GYRO_DATA_ANALYSE

7
src/main/sensors/gyro.h
View file

@ -37,6 +37,11 @@
#include "pg/pg.h"
#define FILTER_FREQUENCY_MAX 4000 // maximum frequency for filter cutoffs (nyquist limit of 8K max sampling)
#define DYN_LPF_FILTER_FREQUENCY_MAX 1000
#define DYN_LPF_GYRO_MIN_HZ_DEFAULT 200
#define DYN_LPF_GYRO_MAX_HZ_DEFAULT 500
#define GYRO_LOWPASS_2_HZ_DEFAULT 250
#ifdef USE_YAW_SPIN_RECOVERY
#define YAW_SPIN_RECOVERY_THRESHOLD_MIN 500
@ -199,6 +204,8 @@ typedef struct gyroConfig_s {
uint8_t gyrosDetected; // What gyros should detection be attempted for on startup. Automatically set on first startup.
uint8_t dyn_lpf_curve_expo; // set the curve for dynamic gyro lowpass filter
uint8_t slider_gyro_filter;
uint8_t slider_gyro_filter_multiplier;
} gyroConfig_t;
PG_DECLARE(gyroConfig_t, gyroConfig);