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This commit is contained in:
Alexander van Saase 2021-03-05 11:52:52 +01:00
parent 75b023f339
commit 4f789a66db
3 changed files with 3 additions and 1 deletions
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1
src/main/build/debug.h
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@ -80,5 +80,6 @@ typedef enum {
DEBUG_SPM_VARIO, // Smartport master variometer DEBUG_SPM_VARIO, // Smartport master variometer
DEBUG_PCF8574, DEBUG_PCF8574,
DEBUG_DYNAMIC_GYRO_LPF, DEBUG_DYNAMIC_GYRO_LPF,
DEBUG_FW_D,
DEBUG_COUNT DEBUG_COUNT
} debugType_e; } debugType_e;

2
src/main/fc/settings.yaml
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@ -84,7 +84,7 @@ tables:
"FLOW", "SBUS", "FPORT", "ALWAYS", "SAG_COMP_VOLTAGE", "FLOW", "SBUS", "FPORT", "ALWAYS", "SAG_COMP_VOLTAGE",
"VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC", "VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC",
"ERPM", "RPM_FILTER", "RPM_FREQ", "NAV_YAW", "DYNAMIC_FILTER", "DYNAMIC_FILTER_FREQUENCY", "ERPM", "RPM_FILTER", "RPM_FREQ", "NAV_YAW", "DYNAMIC_FILTER", "DYNAMIC_FILTER_FREQUENCY",
"IRLOCK", "CD", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF"] "IRLOCK", "CD", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF", "DEBUG_FW_D"]
- name: async_mode - name: async_mode
values: ["NONE", "GYRO", "ALL"] values: ["NONE", "GYRO", "ALL"]
- name: aux_operator - name: aux_operator

1
src/main/flight/pid.c
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@ -676,6 +676,7 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
const float newDTerm = dTermProcess(pidState, dT); const float newDTerm = dTermProcess(pidState, dT);
const float newFFTerm = pidState->rateTarget * pidState->kFF; const float newFFTerm = pidState->rateTarget * pidState->kFF;
DEBUG_SET(DEBUG_FW_D, axis, newDTerm);
/* /*
* Integral should be updated only if axis Iterm is not frozen * Integral should be updated only if axis Iterm is not frozen
*/ */