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Code Issues Wiki Activity

Convert XY VEL TO ACC controller to use feed forward component (#4326)

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* modify navPidApply3 to use linear FF component

* store FF component in BB log

* Make VEL_XY FF component configurable

* change scaling for PID_VEL_XY FF component

* MSP2_PID frame to setup FF component

* Set default VEL XY FF to 40
This commit is contained in:
Paweł Spychalski 2019-03-09 09:22:50 +01:00 • committed by GitHub
parent 359385d28c
commit c64a63b504
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GPG key ID: 4AEE18F83AFDEB23
9 changed files with 82 additions and 20 deletions
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25
src/main/fc/fc_msp.c
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@ -627,6 +627,15 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
}
break;
case MSP2_PID:
for (int i = 0; i < PID_ITEM_COUNT; i++) {
sbufWriteU8(dst, pidBank()->pid[i].P);
sbufWriteU8(dst, pidBank()->pid[i].I);
sbufWriteU8(dst, pidBank()->pid[i].D);
sbufWriteU8(dst, pidBank()->pid[i].FF);
}
break;
case MSP_PIDNAMES:
for (const char *c = pidnames; *c; c++) {
sbufWriteU8(dst, *c);
@ -1571,6 +1580,22 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR;
break;
case MSP2_SET_PID:
if (dataSize >= PID_ITEM_COUNT * 4) {
for (int i = 0; i < PID_ITEM_COUNT; i++) {
pidBankMutable()->pid[i].P = sbufReadU8(src);
pidBankMutable()->pid[i].I = sbufReadU8(src);
pidBankMutable()->pid[i].D = sbufReadU8(src);
pidBankMutable()->pid[i].FF = sbufReadU8(src);
}
schedulePidGainsUpdate();
#if defined(USE_NAV)
navigationUsePIDs();
#endif
} else
return MSP_RESULT_ERROR;
break;
case MSP_SET_MODE_RANGE:
sbufReadU8Safe(&tmp_u8, src);
if ((dataSize >= 5) && (tmp_u8 < MAX_MODE_ACTIVATION_CONDITION_COUNT)) {