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Rate Dynamics debug

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2021-04-13 16:12:31 +02:00
parent 865ee5ede8
commit 5f50bc142b
3 changed files with 12 additions and 1 deletions
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1
src/main/build/debug.h
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@ -83,5 +83,6 @@ typedef enum {
DEBUG_FW_D, DEBUG_FW_D,
DEBUG_IMU2, DEBUG_IMU2,
DEBUG_ALTITUDE, DEBUG_ALTITUDE,
DEBUG_RATE_DYNAMICS,
DEBUG_COUNT DEBUG_COUNT
} debugType_e; } debugType_e;

9
src/main/fc/fc_core.c
View file

@ -378,9 +378,18 @@ void annexCode(float dT)
rcCommand[PITCH] = rcCommand[PITCH] * currentControlRateProfile->manual.rates[FD_PITCH] / 100L; rcCommand[PITCH] = rcCommand[PITCH] * currentControlRateProfile->manual.rates[FD_PITCH] / 100L;
rcCommand[YAW] = rcCommand[YAW] * currentControlRateProfile->manual.rates[FD_YAW] / 100L; rcCommand[YAW] = rcCommand[YAW] * currentControlRateProfile->manual.rates[FD_YAW] / 100L;
} else { } else {
DEBUG_SET(DEBUG_RATE_DYNAMICS, 0, rcCommand[ROLL]);
rcCommand[ROLL] = applyRateDynamics(rcCommand[ROLL], ROLL, dT); rcCommand[ROLL] = applyRateDynamics(rcCommand[ROLL], ROLL, dT);
DEBUG_SET(DEBUG_RATE_DYNAMICS, 1, rcCommand[ROLL]);
DEBUG_SET(DEBUG_RATE_DYNAMICS, 2, rcCommand[PITCH]);
rcCommand[PITCH] = applyRateDynamics(rcCommand[PITCH], PITCH, dT); rcCommand[PITCH] = applyRateDynamics(rcCommand[PITCH], PITCH, dT);
DEBUG_SET(DEBUG_RATE_DYNAMICS, 3, rcCommand[PITCH]);
DEBUG_SET(DEBUG_RATE_DYNAMICS, 4, rcCommand[YAW]);
rcCommand[YAW] = applyRateDynamics(rcCommand[YAW], YAW, dT); rcCommand[YAW] = applyRateDynamics(rcCommand[YAW], YAW, dT);
DEBUG_SET(DEBUG_RATE_DYNAMICS, 5, rcCommand[YAW]);
} }
//Compute THROTTLE command //Compute THROTTLE command

3
src/main/fc/settings.yaml
View file

@ -87,7 +87,8 @@ 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", "FW_D", "IMU2", "ALTITUDE"] "IRLOCK", "CD", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF", "FW_D", "IMU2", "ALTITUDE",
"RATE_DYNAMICS"]
- name: async_mode - name: async_mode
values: ["NONE", "GYRO", "ALL"] values: ["NONE", "GYRO", "ALL"]
- name: aux_operator - name: aux_operator