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Antigravity debug

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2019-07-09 15:51:59 +02:00
parent 8d6bbe55c6
commit 9566d53452
3 changed files with 6 additions and 2 deletions
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1
src/main/build/debug.h
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@ -70,5 +70,6 @@ typedef enum {
DEBUG_GENERIC, DEBUG_GENERIC,
DEBUG_ITERM_RELAX, DEBUG_ITERM_RELAX,
DEBUG_D_BOOST, DEBUG_D_BOOST,
DEBUG_ANTIGRAVITY,
DEBUG_COUNT DEBUG_COUNT
} debugType_e; } debugType_e;

3
src/main/fc/settings.yaml
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@ -77,7 +77,8 @@ tables:
- name: debug_modes - name: debug_modes
values: ["NONE", "GYRO", "NOTCH", "NAV_LANDING", "FW_ALTITUDE", "AGL", "FLOW_RAW", values: ["NONE", "GYRO", "NOTCH", "NAV_LANDING", "FW_ALTITUDE", "AGL", "FLOW_RAW",
"FLOW", "SBUS", "FPORT", "ALWAYS", "STAGE2", "SAG_COMP_VOLTAGE", "FLOW", "SBUS", "FPORT", "ALWAYS", "STAGE2", "SAG_COMP_VOLTAGE",
"VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC", "GENERIC", "ITERM_RELAX", "D_BOOST"] "VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC", "GENERIC", "ITERM_RELAX",
"D_BOOST", "ANTIGRAVITY"]
- name: async_mode - name: async_mode
values: ["NONE", "GYRO", "ALL"] values: ["NONE", "GYRO", "ALL"]
- name: aux_operator - name: aux_operator

4
src/main/flight/pid.c
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@ -738,7 +738,9 @@ static void FAST_CODE pidApplyMulticopterRateController(pidState_t *pidState, fl
applyItermRelax(axis, pidState->gyroRate, pidState->rateTarget, &itermErrorRate); applyItermRelax(axis, pidState->gyroRate, pidState->rateTarget, &itermErrorRate);
#ifdef USE_ANTIGRAVITY #ifdef USE_ANTIGRAVITY
itermErrorRate *= scaleRangef(fabsf(antigravityThrottleHpf), 0.0f, 1000.0f, 1.0f, antigravityGain); const float iTermAntigravityGain = scaleRangef(fabsf(antigravityThrottleHpf), 0.0f, 1000.0f, 1.0f, antigravityGain);
DEBUG_SET(DEBUG_ANTIGRAVITY, 0, iTermAntigravityGain * 100);
itermErrorRate *= iTermAntigravityGain;
#endif #endif
pidState->errorGyroIf += (itermErrorRate * pidState->kI * antiWindupScaler * dT) pidState->errorGyroIf += (itermErrorRate * pidState->kI * antiWindupScaler * dT)