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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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41
src/main/interface/cli.c
View file

@ -3654,6 +3654,44 @@ static void cliVersion(char *cmdline)
);
}
#ifdef USE_RC_SMOOTHING_FILTER
static void cliRcSmoothing(char *cmdline)
{
UNUSED(cmdline);
cliPrint("# RC Smoothing Type: ");
if (rxConfig()->rc_smoothing_type == RC_SMOOTHING_TYPE_FILTER) {
cliPrintLine("FILTER");
uint16_t avgRxFrameMs = rcSmoothingGetValue(RC_SMOOTHING_VALUE_AVERAGE_FRAME);
cliPrint("# Detected RX frame rate: ");
if (avgRxFrameMs == 0) {
cliPrintLine("NO SIGNAL");
} else {
cliPrintLinef("%d.%dms", avgRxFrameMs / 1000, avgRxFrameMs % 1000);
}
cliPrintLinef("# Auto input cutoff: %dhz", rcSmoothingGetValue(RC_SMOOTHING_VALUE_INPUT_AUTO));
cliPrintf("# Active input cutoff: %dhz ", rcSmoothingGetValue(RC_SMOOTHING_VALUE_INPUT_ACTIVE));
if (rxConfig()->rc_smoothing_input_cutoff == 0) {
cliPrintLine("(auto)");
} else {
cliPrintLine("(manual)");
}
cliPrintLinef("# Auto derivative cutoff: %dhz", rcSmoothingGetValue(RC_SMOOTHING_VALUE_DERIVATIVE_AUTO));
cliPrintf("# Active derivative cutoff: %dhz (", rcSmoothingGetValue(RC_SMOOTHING_VALUE_DERIVATIVE_ACTIVE));
if (rxConfig()->rc_smoothing_derivative_type == RC_SMOOTHING_DERIVATIVE_OFF) {
cliPrintLine("off)");
} else {
if (rxConfig()->rc_smoothing_derivative_cutoff == 0) {
cliPrintLine("auto)");
} else {
cliPrintLine("manual)");
}
}
} else {
cliPrintLine("INTERPOLATION");
}
}
#endif // USE_RC_SMOOTHING_FILTER
#if defined(USE_RESOURCE_MGMT)
#define MAX_RESOURCE_INDEX(x) ((x) == 0 ? 1 : (x))
@ -4441,6 +4479,9 @@ const clicmd_t cmdTable[] = {
#endif
CLI_COMMAND_DEF("profile", "change profile", "[<index>]", cliProfile),
CLI_COMMAND_DEF("rateprofile", "change rate profile", "[<index>]", cliRateProfile),
#ifdef USE_RC_SMOOTHING_FILTER
CLI_COMMAND_DEF("rc_smoothing_info", "show rc_smoothing operational settings", NULL, cliRcSmoothing),
#endif // USE_RC_SMOOTHING_FILTER
#ifdef USE_RESOURCE_MGMT
CLI_COMMAND_DEF("resource", "show/set resources", NULL, cliResource),
#endif