The original setpoint based iTerm Relax code attenuated the amount of iTerm added per loop by a relax factor based on an HPF of setpoint.
At some point the code was re-factored and the relax factor multiplied the accumulating iterm error itself, such that almost any relax factor below 1.0 would quickly zero out iTerm.
This was bad for racing because when making sustained tight turns, I would abrubtly be zeroed when the setpoint for the starting of some relax was close to the threshold.
This was never the intent of the original proposal, which was for a smoother attenuation of iTerm, and for retention of some accumulation of iTerm during spirals around poles etc.
This PR fixes that error.
It also changes the default threshold up from 30 deg/s to 40 deg/s which better suits racing.
Also included us a form of simple cutoff independence. In the initial form, lowering cutoff would reduce the effectiveness but draw out the duration. Now cutoff only really affects duration.
Lower cutoff values are better for quads with greater motor delay, faster values are better for quicker quads. For most of my quads a cutoff of 30 works best.
I've also removed newlines.
set to current cutoff maybe fix unit test
default cutoff set to current value
in unit test add itermRelaxSetpointThreshold as float
in unit test add itermRelaxSetpointThreshold as float, because ITERM_RELAX_SETPOINT_THRESHOLD doesn't exist any more
Move itermRelaxFactor limit, remove from fast ram
remove unncessary max, revert unit test changes, restore original defaults.
remove max from debug
restore old defaults and revert unit test changes temporarily to see if will pass unit test with defaults
whoops
lets see if unit test passes when cutoff is 20
lets see if unit test passes when cutoff is 20
Converting the universal target as well.
Simplified timer management some.
Added F722 support for good measuer.
Fixed SITL, tests.
Cleanup after rebase.
Added support for all timer consumers and F7.
Fixed 'USE_DMA_SPEC' for F3, some cleanups.
Remove the giant `select` block that contained all the code to generate the elements and transition them to individual functions called only when the element is active. Simplifies the code and results in a performance improvement as it's not necessary to fall through the large `select` statement for every element that will be drawn. The individual functions and the element to function mapping are moved to a new `osd_elements.c` file.
Moved the OSD related code files to a new `osd/` directory.
Also pre-analyze the active elements and only process those that are active. This also saves processing as it's not necessary to loop through all 50 or so elements when only a couple are active.
Various other cleanup and removal of stale or unnecessary code.
In the default configuration the element drawing phase of the OSD task is reduced from ~51us to ~35us - resulting in about a 30% decrease in processing time.
Analyze the rc modes activation conditions and only process configured entries. Previously the entire possible list was processed even though typically only a handful are configured.
Reduces the RX task processing time by about 25% (~44us to ~33us) with an average setup of 3 modes configured (F405, SBUS). Processing time savings will diminish as the user configures more modes. But typically far fewer than the maximum of 20 will be configured.
Having the iterm resetting happening in the rx loop causes a sawtooth PID/motor effect while idling since the PID loop is running at a much higher rate and iterm is allowed to grow during this, and then only reset at a much lower rate in the rx loop. This can potentially lead to some oscillation and/or resonance while idling before takeoff as the sawtooth signal can make it through to the motor outputs.
