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Add FF to inflight adjustments

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This commit is contained in:
Andi Kanzler 2020-08-08 22:42:03 +02:00
parent d946907af2
commit a53b1c0619
7 changed files with 62 additions and 52 deletions
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56
docs/Inflight Adjustments.md
View file

@ -113,45 +113,45 @@ this reason ensure that you define enough ranges to cover the range channel's us
| 8 | PITCH_ROLL_D |
| 9 | YAW_P |
| 10 | YAW_I |
| 11 | YAW_D |
| 11 | YAW_D_FF |
| 12 | RATE_PROFILE | Switch between 3 rate profiles using a 3 position switch. |
| 13 | PITCH_RATE |
| 14 | ROLL_RATE |
| 15 | PITCH_P |
| 16 | PITCH_I |
| 17 | PITCH_D |
| 17 | PITCH_D_FF |
| 18 | ROLL_P |
| 19 | ROLL_I |
| 20 | RC_YAW_EXPO |
| 21 | MANUAL_RC_EXPO |
| 22 | MANUAL_RC_YAW_EXPO |
| 23 | MANUAL_PITCH_ROLL_RATE |
| 24 | MANUAL_ROLL_RATE |
| 25 | MANUAL_PITCH_RATE |
| 26 | MANUAL_YAW_RATE |
| 27 | NAV_FW_CRUISE_THROTTLE |
| 28 | NAV_FW_PITCH2THR |
| 29 | ROLL_BOARD_ALIGNMENT |
| 30 | PITCH_BOARD_ALIGNMENT |
| 31 | LEVEL_P |
| 32 | LEVEL_I |
| 33 | LEVEL_D |
| 34 | POS_XY_P |
| 35 | POS_XY_I |
| 36 | POS_XY_D |
| 37 | POS_Z_P |
| 38 | POS_Z_I |
| 39 | POS_Z_D |
| 40 | HEADING_P |
| 41 | VEL_XY_P |
| 42 | VEL_XY_I |
| 43 | VEL_XY_D |
| 44 | VEL_Z_P |
| 20 | ROLL_D_FF |
| 21 | RC_YAW_EXPO |
| 22 | MANUAL_RC_EXPO |
| 23 | MANUAL_RC_YAW_EXPO |
| 24 | MANUAL_PITCH_ROLL_RATE |
| 25 | MANUAL_ROLL_RATE |
| 26 | MANUAL_PITCH_RATE |
| 27 | MANUAL_YAW_RATE |
| 28 | NAV_FW_CRUISE_THROTTLE |
| 29 | NAV_FW_PITCH2THR |
| 30 | ROLL_BOARD_ALIGNMENT |
| 31 | PITCH_BOARD_ALIGNMENT |
| 32 | LEVEL_P |
| 33 | LEVEL_I |
| 34 | LEVEL_D |
| 35 | POS_XY_P |
| 36 | POS_XY_I |
| 37 | POS_XY_D |
| 38 | POS_Z_P |
| 39 | POS_Z_I |
| 40 | POS_Z_D |
| 41 | HEADING_P |
| 42 | VEL_XY_P |
| 43 | VEL_XY_I |
| 44 | VEL_XY_D |
| 45 | VEL_Z_P |
| 46 | VEL_Z_I |
| 47 | VEL_Z_D |
| 48 | FW_MIN_THROTTLE_DOWN_PITCH_ANGLE |
| 49 | PROFILE | Switch between 3 rate profiles using a 3 position switch. |
| 49 | ADJUSTMENT_VTX_POWER_LEVEL |
## Examples

24
src/main/fc/rc_adjustments.c
View file

@ -101,7 +101,7 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D,
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D_FF,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
@ -113,7 +113,7 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_YAW_D,
.adjustmentFunction = ADJUSTMENT_YAW_D_FF,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
@ -137,7 +137,7 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_PITCH_D,
.adjustmentFunction = ADJUSTMENT_PITCH_D_FF,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
@ -149,7 +149,7 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_ROLL_D,
.adjustmentFunction = ADJUSTMENT_ROLL_D_FF,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
@ -441,18 +441,18 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
applyAdjustmentPID(ADJUSTMENT_ROLL_I, &pidBankMutable()->pid[PID_ROLL].I, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_PITCH_ROLL_D:
case ADJUSTMENT_PITCH_D:
applyAdjustmentPID(ADJUSTMENT_PITCH_D, &pidBankMutable()->pid[PID_PITCH].D, delta);
if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
case ADJUSTMENT_PITCH_ROLL_D_FF:
case ADJUSTMENT_PITCH_D_FF:
applyAdjustmentPID(ADJUSTMENT_PITCH_D_FF, getD_FFRefByBank(pidBankMutable(), PID_PITCH), delta);
if (adjustmentFunction == ADJUSTMENT_PITCH_D_FF) {
schedulePidGainsUpdate();
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_D
FALLTHROUGH;
case ADJUSTMENT_ROLL_D:
applyAdjustmentPID(ADJUSTMENT_ROLL_D, &pidBankMutable()->pid[PID_ROLL].D, delta);
case ADJUSTMENT_ROLL_D_FF:
applyAdjustmentPID(ADJUSTMENT_ROLL_D_FF, getD_FFRefByBank(pidBankMutable(), PID_ROLL), delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_YAW_P:
@ -463,8 +463,8 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
applyAdjustmentPID(ADJUSTMENT_YAW_I, &pidBankMutable()->pid[PID_YAW].I, delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_YAW_D:
applyAdjustmentPID(ADJUSTMENT_YAW_D, &pidBankMutable()->pid[PID_YAW].D, delta);
case ADJUSTMENT_YAW_D_FF:
applyAdjustmentPID(ADJUSTMENT_YAW_D_FF, getD_FFRefByBank(pidBankMutable(), PID_YAW), delta);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_NAV_FW_CRUISE_THR:

8
src/main/fc/rc_adjustments.h
View file

@ -33,19 +33,19 @@ typedef enum {
ADJUSTMENT_YAW_RATE = 5,
ADJUSTMENT_PITCH_ROLL_P = 6,
ADJUSTMENT_PITCH_ROLL_I = 7,
ADJUSTMENT_PITCH_ROLL_D = 8,
ADJUSTMENT_PITCH_ROLL_D_FF = 8,
ADJUSTMENT_YAW_P = 9,
ADJUSTMENT_YAW_I = 10,
ADJUSTMENT_YAW_D = 11,
ADJUSTMENT_YAW_D_FF = 11,
ADJUSTMENT_RATE_PROFILE = 12, // Unused, placeholder for compatibility
ADJUSTMENT_PITCH_RATE = 13,
ADJUSTMENT_ROLL_RATE = 14,
ADJUSTMENT_PITCH_P = 15,
ADJUSTMENT_PITCH_I = 16,
ADJUSTMENT_PITCH_D = 17,
ADJUSTMENT_PITCH_D_FF = 17,
ADJUSTMENT_ROLL_P = 18,
ADJUSTMENT_ROLL_I = 19,
ADJUSTMENT_ROLL_D = 20,
ADJUSTMENT_ROLL_D_FF = 20,
ADJUSTMENT_RC_YAW_EXPO = 21,
ADJUSTMENT_MANUAL_RC_EXPO = 22,
ADJUSTMENT_MANUAL_RC_YAW_EXPO = 23,

9
src/main/flight/pid.c
View file

@ -1114,3 +1114,12 @@ const pidBank_t * pidBank(void) {
pidBank_t * pidBankMutable(void) {
return usedPidControllerType == PID_TYPE_PIFF ? &pidProfileMutable()->bank_fw : &pidProfileMutable()->bank_mc;
}
uint8_t * getD_FFRefByBank(pidBank_t *pidBank, pidIndex_e pidIndex)
{
if (pidIndexGetType(pidIndex) == PID_TYPE_PIFF) {
return &pidBank->pid[pidIndex].FF;
} else {
return &pidBank->pid[pidIndex].D;
}
}

1
src/main/flight/pid.h
View file

@ -198,3 +198,4 @@ void autotuneUpdateState(void);
void autotuneFixedWingUpdate(const flight_dynamics_index_t axis, float desiredRateDps, float reachedRateDps, float pidOutput);
pidType_e pidIndexGetType(pidIndex_e pidIndex);
uint8_t * getD_FFRefByBank(pidBank_t *pidBank, pidIndex_e pidIndex);

6
src/main/flight/pid_autotune.c
View file

@ -230,15 +230,15 @@ void autotuneFixedWingUpdate(const flight_dynamics_index_t axis, float desiredRa
switch (axis) {
case FD_ROLL:
blackboxLogAutotuneEvent(ADJUSTMENT_ROLL_D, tuneCurrent[axis].gainFF);
blackboxLogAutotuneEvent(ADJUSTMENT_ROLL_D_FF, tuneCurrent[axis].gainFF);
break;
case FD_PITCH:
blackboxLogAutotuneEvent(ADJUSTMENT_PITCH_D, tuneCurrent[axis].gainFF);
blackboxLogAutotuneEvent(ADJUSTMENT_PITCH_D_FF, tuneCurrent[axis].gainFF);
break;
case FD_YAW:
blackboxLogAutotuneEvent(ADJUSTMENT_YAW_D, tuneCurrent[axis].gainFF);
blackboxLogAutotuneEvent(ADJUSTMENT_YAW_D_FF, tuneCurrent[axis].gainFF);
break;
}
}

8
src/main/io/osd.c
View file

@ -1181,7 +1181,7 @@ static void osdDisplayPIDValues(uint8_t elemPosX, uint8_t elemPosY, const char *
elemAttr = TEXT_ATTRIBUTES_NONE;
tfp_sprintf(buff, "%3d", pidType == PID_TYPE_PIFF ? pid->FF : pid->D);
if ((isAdjustmentFunctionSelected(adjFuncD)) || (((adjFuncD == ADJUSTMENT_ROLL_D) || (adjFuncD == ADJUSTMENT_PITCH_D)) && (isAdjustmentFunctionSelected(ADJUSTMENT_PITCH_ROLL_D))))
if ((isAdjustmentFunctionSelected(adjFuncD)) || (((adjFuncD == ADJUSTMENT_ROLL_D_FF) || (adjFuncD == ADJUSTMENT_PITCH_D_FF)) && (isAdjustmentFunctionSelected(ADJUSTMENT_PITCH_ROLL_D_FF))))
TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
displayWriteWithAttr(osdDisplayPort, elemPosX + 12, elemPosY, buff, elemAttr);
}
@ -1777,15 +1777,15 @@ static bool osdDrawSingleElement(uint8_t item)
#endif
case OSD_ROLL_PIDS:
osdDisplayPIDValues(elemPosX, elemPosY, "ROL", PID_ROLL, ADJUSTMENT_ROLL_P, ADJUSTMENT_ROLL_I, ADJUSTMENT_ROLL_D);
osdDisplayPIDValues(elemPosX, elemPosY, "ROL", PID_ROLL, ADJUSTMENT_ROLL_P, ADJUSTMENT_ROLL_I, ADJUSTMENT_ROLL_D_FF);
return true;
case OSD_PITCH_PIDS:
osdDisplayPIDValues(elemPosX, elemPosY, "PIT", PID_PITCH, ADJUSTMENT_PITCH_P, ADJUSTMENT_PITCH_I, ADJUSTMENT_PITCH_D);
osdDisplayPIDValues(elemPosX, elemPosY, "PIT", PID_PITCH, ADJUSTMENT_PITCH_P, ADJUSTMENT_PITCH_I, ADJUSTMENT_PITCH_D_FF);
return true;
case OSD_YAW_PIDS:
osdDisplayPIDValues(elemPosX, elemPosY, "YAW", PID_YAW, ADJUSTMENT_YAW_P, ADJUSTMENT_YAW_I, ADJUSTMENT_YAW_D);
osdDisplayPIDValues(elemPosX, elemPosY, "YAW", PID_YAW, ADJUSTMENT_YAW_P, ADJUSTMENT_YAW_I, ADJUSTMENT_YAW_D_FF);
return true;
case OSD_LEVEL_PIDS: