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RC smoothing: improve rx frame rate detection, add rc_smoothing_info cli command

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Improved the rx frame rate detection/training by delaying calculation to avoid loop time jitter during flight controller initialization.

For auto cutoffs calculate a value appropriate for BIQUAD or PT1 depending on the configuration.

Added a new rc_smoothing_info cli command to display internal details about its operation.
This commit is contained in:
Bruce Luckcuck 2018-06-04 23:30:41 -04:00
parent 95f8cfd8b8
commit e49c10b573
5 changed files with 129 additions and 32 deletions
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25
src/main/flight/pid.c
View file

@ -306,18 +306,21 @@ void pidInitFilters(const pidProfile_t *pidProfile)
}
#ifdef USE_RC_SMOOTHING_FILTER
void pidInitSetpointDerivativeLpf(uint16_t filterCutoff, uint8_t debugAxis, uint8_t filterType) {
setpointDerivativeLpfInitialized = true;
void pidInitSetpointDerivativeLpf(uint16_t filterCutoff, uint8_t debugAxis, uint8_t filterType)
{
rcSmoothingDebugAxis = debugAxis;
rcSmoothingFilterType = filterType;
for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) {
switch (rcSmoothingFilterType) {
case RC_SMOOTHING_DERIVATIVE_PT1:
pt1FilterInit(&setpointDerivativePt1[axis], pt1FilterGain(filterCutoff, dT));
break;
case RC_SMOOTHING_DERIVATIVE_BIQUAD:
biquadFilterInitLPF(&setpointDerivativeBiquad[axis], filterCutoff, targetPidLooptime);
break;
if ((filterCutoff > 0) && (rcSmoothingFilterType != RC_SMOOTHING_DERIVATIVE_OFF)) {
setpointDerivativeLpfInitialized = true;
for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) {
switch (rcSmoothingFilterType) {
case RC_SMOOTHING_DERIVATIVE_PT1:
pt1FilterInit(&setpointDerivativePt1[axis], pt1FilterGain(filterCutoff, dT));
break;
case RC_SMOOTHING_DERIVATIVE_BIQUAD:
biquadFilterInitLPF(&setpointDerivativeBiquad[axis], filterCutoff, targetPidLooptime);
break;
}
}
}
}
@ -896,7 +899,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
if (axis == rcSmoothingDebugAxis) {
DEBUG_SET(DEBUG_RC_SMOOTHING, 1, lrintf(pidSetpointDelta * 100.0f));
}
if ((dynCd != 0) && setpointDerivativeLpfInitialized && (rcSmoothingFilterType != RC_SMOOTHING_DERIVATIVE_OFF)) {
if ((dynCd != 0) && setpointDerivativeLpfInitialized) {
switch (rcSmoothingFilterType) {
case RC_SMOOTHING_DERIVATIVE_PT1:
pidSetpointDelta = pt1FilterApply(&setpointDerivativePt1[axis], pidSetpointDelta);