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Code Issues Wiki Activity

MAG_HOLD diff limiting and MAG controller refactoring (#195)

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* MAGHOLD constrained to 30 degrees
* mag_hold_heading_diff_limit CLI setting added to allow custom MAG_HOLD diff limit
* magHeading moved to pid.c and real interface created to inject data into it
* mag hold controller with current logic moved to pid.c
* 2Hz LPF filter added to magHold error to smoothen controller response
* variable name changed to clearly state its purpose
* LPF filter in MAG_HOLD controller moved after error limiting
* yaw_control_direction passed to pidController as argument, mag_hold_heading_diff_limit moved to pidProfile
* yaw_control_direction setting removed
* pidMagHold translates directly to rotation rate in dps
* pidMagHold refactored to the new principles and limiting
* name of filter changed to reflect its purpose
* HEADING_LOCK mode can be used only when MAG_HOLD is not enabled
* compiler warning supressed
* new MAG_HOLD defaults, RATE_LIMIT increased to 80dps, MAG_HOLD P to 60
* mag_rate_limit 90dps
This commit is contained in:
Paweł Spychalski 2016-05-15 14:46:55 +02:00 • committed by Konstantin Sharlaimov
parent a09f07caf2
commit dd8a8aead5
12 changed files with 154 additions and 82 deletions
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8
src/main/io/serial_cli.c
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@ -664,7 +664,6 @@ const clivalue_t valueTable[] = {
{ "throttle_tilt_comp_str", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].throttle_tilt_compensation_strength, .config.minmax = { 0, 100 }, 0 },
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.yaw_control_direction, .config.minmax = { -1, 1 }, 0 },
{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, .config.minmax = { -1, 1 }, 0 },
{ "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, .config.minmax = { YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH }, 0 },
@ -707,6 +706,7 @@ const clivalue_t valueTable[] = {
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.mag_hardware, .config.minmax = { 0, MAG_MAX }, 0 },
{ "mag_declination", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, .config.minmax = { -18000, 18000 }, 0 },
{ "mag_hold_rate_limit", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.mag_hold_rate_limit, .config.minmax = { MAG_HOLD_RATE_LIMIT_MIN, MAG_HOLD_RATE_LIMIT_MAX }, 0 },
{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], .config.minmax = { 0, 200 }, 0 },
{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], .config.minmax = { 0, 200 }, 0 },
@ -1830,7 +1830,7 @@ void cliEnter(serialPort_t *serialPort)
setPrintfSerialPort(cliPort);
cliWriter = bufWriterInit(cliWriteBuffer, sizeof(cliWriteBuffer),
(bufWrite_t)serialWriteBufShim, serialPort);
cliPrint("\r\nEntering CLI Mode, type 'exit' to return, or 'help'\r\n");
cliPrompt();
ENABLE_ARMING_FLAG(PREVENT_ARMING);
@ -1842,7 +1842,7 @@ static void cliExit(char *cmdline)
cliPrint("\r\nLeaving CLI mode, unsaved changes lost.\r\n");
bufWriterFlush(cliWriter);
*cliBuffer = '\0';
bufferIndex = 0;
cliMode = 0;
@ -2558,7 +2558,7 @@ void cliProcess(void)
// Be a little bit tricky. Flush the last inputs buffer, if any.
bufWriterFlush(cliWriter);
while (serialRxBytesWaiting(cliPort)) {
uint8_t c = serialRead(cliPort);
if (c == '\t' || c == '?') {