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Break out rc interpolation as a separate task and run before pid controller and motor update

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Fixes an issue with motor "spikes" when rc interpolation was enabled for throttle. The problem was that the smoothing was happening too late in the sequence and the earlier process subTaskMotorUpdate() would use the unsmoothed throttle value in the mixer if new rx data had come in between the last and current PID loop.  Also because the setPointRate was calculated at the end of the smoothing, the PID controller would always be using the value from the previous loop iteration.
This commit is contained in:
Bruce Luckcuck 2018-05-16 10:12:37 -04:00
parent e405e41d0c
commit fdee2e5228
1 changed files with 7 additions and 2 deletions
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9
src/main/fc/fc_core.c
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@ -905,8 +905,6 @@ static NOINLINE void subTaskMainSubprocesses(timeUs_t currentTimeUs)
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(throttleCorrectionConfig()->throttle_correction_value);
}
processRcCommand();
#ifdef USE_SDCARD
afatfs_poll();
#endif
@ -958,6 +956,12 @@ static void subTaskMotorUpdate(timeUs_t currentTimeUs)
DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime);
}
static void subTaskRcCommand(timeUs_t currentTimeUs)
{
processRcCommand();
UNUSED(currentTimeUs);
}
// Function for loop trigger
FAST_CODE void taskMainPidLoop(timeUs_t currentTimeUs)
{
@ -976,6 +980,7 @@ FAST_CODE void taskMainPidLoop(timeUs_t currentTimeUs)
DEBUG_SET(DEBUG_PIDLOOP, 0, micros() - currentTimeUs);
if (pidUpdateCounter++ % pidConfig()->pid_process_denom == 0) {
subTaskRcCommand(currentTimeUs);
subTaskPidController(currentTimeUs);
subTaskMotorUpdate(currentTimeUs);
subTaskMainSubprocesses(currentTimeUs);