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Gyro native rate sampling, filtering, and scheduler restructuring

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This commit is contained in:
Bruce Luckcuck 2020-01-06 07:52:35 -05:00
parent b11565efbe
commit f584780944
42 changed files with 718 additions and 421 deletions
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12
src/main/flight/pid.c
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@ -755,7 +755,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
void pidInit(const pidProfile_t *pidProfile)
{
pidSetTargetLooptime(gyro.targetLooptime * pidConfig()->pid_process_denom); // Initialize pid looptime
pidSetTargetLooptime(gyro.targetLooptime); // Initialize pid looptime
pidInitFilters(pidProfile);
pidInitConfig(pidProfile);
#ifdef USE_RPM_FILTER
@ -857,7 +857,10 @@ STATIC_UNIT_TESTED float calcHorizonLevelStrength(void)
return constrainf(horizonLevelStrength, 0, 1);
}
STATIC_UNIT_TESTED float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint) {
// Use the FAST_CODE_NOINLINE directive to avoid this code from being inlined into ITCM RAM to avoid overflow.
// The impact is possibly slightly slower performance on F7/H7 but they have more than enough
// processing power that it should be a non-issue.
STATIC_UNIT_TESTED FAST_CODE_NOINLINE float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint) {
// calculate error angle and limit the angle to the max inclination
// rcDeflection is in range [-1.0, 1.0]
float angle = pidProfile->levelAngleLimit * getRcDeflection(axis);
@ -1215,7 +1218,10 @@ float pidGetAirmodeThrottleOffset()
#define LAUNCH_CONTROL_MIN_RATE 5.0f
#define LAUNCH_CONTROL_ANGLE_WINDOW 10.0f // The remaining angle degrees where rate dampening starts
static float applyLaunchControl(int axis, const rollAndPitchTrims_t *angleTrim)
// Use the FAST_CODE_NOINLINE directive to avoid this code from being inlined into ITCM RAM to avoid overflow.
// The impact is possibly slightly slower performance on F7/H7 but they have more than enough
// processing power that it should be a non-issue.
static FAST_CODE_NOINLINE float applyLaunchControl(int axis, const rollAndPitchTrims_t *angleTrim)
{
float ret = 0.0f;