Merge pull request #1775 from betaflight/major_mw_cleanup

Cleanup mw.c // Remove unnecessary functions

Makefile

@@ -524,7 +524,7 @@ COMMON_SRC = \
             fc/config.c \
             fc/fc_tasks.c \
             fc/fc_msp.c \
-            fc/mw.c \
+            fc/fc_main.c \
             fc/rc_controls.c \
             fc/rc_curves.c \
             fc/runtime_config.c \
@@ -586,7 +586,6 @@ HIGHEND_SRC = \
             drivers/serial_escserial.c \
             drivers/serial_softserial.c \
             drivers/sonar_hcsr04.c \
-            flight/gtune.c \
             flight/navigation.c \
             flight/gps_conversion.c \
             io/dashboard.c \

src/main/blackbox/blackbox.c

@@ -1258,11 +1258,11 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle:%d",                 currentProfile->pidProfile.pidAtMinThrottle);
 
         // Betaflight PID controller parameters
-        BLACKBOX_PRINT_HEADER_LINE("itermThrottleGain:%d",                currentProfile->pidProfile.itermThrottleGain);
+        BLACKBOX_PRINT_HEADER_LINE("itermThrottleThreshold:%d",           currentProfile->pidProfile.itermThrottleThreshold);
         BLACKBOX_PRINT_HEADER_LINE("setpointRelaxRatio:%d",               currentProfile->pidProfile.setpointRelaxRatio);
         BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d",              currentProfile->pidProfile.dtermSetpointWeight);
-        BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d",                currentProfile->pidProfile.yawRateAccelLimit);
+        BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d",                castFloatBytesToInt(currentProfile->pidProfile.yawRateAccelLimit));
-        BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d",                   currentProfile->pidProfile.rateAccelLimit);
+        BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d",                   castFloatBytesToInt(currentProfile->pidProfile.rateAccelLimit));
         // End of Betaflight controller parameters
 
         BLACKBOX_PRINT_HEADER_LINE("deadband:%d",                         rcControlsConfig()->deadband);
@@ -1330,11 +1330,6 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
                 blackboxWriteSignedVB(data->inflightAdjustment.newValue);
             }
         break;
-        case FLIGHT_LOG_EVENT_GTUNE_RESULT:
-            blackboxWrite(data->gtuneCycleResult.gtuneAxis);
-            blackboxWriteSignedVB(data->gtuneCycleResult.gtuneGyroAVG);
-            blackboxWriteS16(data->gtuneCycleResult.gtuneNewP);
-        break;
         case FLIGHT_LOG_EVENT_LOGGING_RESUME:
             blackboxWriteUnsignedVB(data->loggingResume.logIteration);
             blackboxWriteUnsignedVB(data->loggingResume.currentTime);

src/main/blackbox/blackbox_fielddefs.h

@@ -106,7 +106,6 @@ typedef enum FlightLogEvent {
     FLIGHT_LOG_EVENT_SYNC_BEEP = 0,
     FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT = 13,
     FLIGHT_LOG_EVENT_LOGGING_RESUME = 14,
-    FLIGHT_LOG_EVENT_GTUNE_RESULT = 20,
     FLIGHT_LOG_EVENT_FLIGHTMODE = 30, // Add new event type for flight mode status.
     FLIGHT_LOG_EVENT_LOG_END = 255
 } FlightLogEvent;

src/main/config/parameter_group_ids.h

@@ -30,7 +30,6 @@
 #define PG_CONTROL_RATE_PROFILES 12 // struct OK, needs to be split out of rc_controls.h into rate_profile.h
 #define PG_SERIAL_CONFIG 13 // struct OK
 #define PG_PID_PROFILE 14 // struct OK, CF differences
-#define PG_GTUNE_CONFIG 15 // is GTUNE still being used?
 #define PG_ARMING_CONFIG 16 // structs OK, CF naming differences
 #define PG_TRANSPONDER_CONFIG 17 // struct OK
 #define PG_SYSTEM_CONFIG 18 // just has i2c_highspeed

src/main/fc/config.c

@@ -168,34 +168,23 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
     pidProfile->pidSumLimit = PIDSUM_LIMIT;
     pidProfile->yaw_lpf_hz = 0;
-    pidProfile->rollPitchItermIgnoreRate = 130;
+    pidProfile->rollPitchItermIgnoreRate = 200;
-    pidProfile->yawItermIgnoreRate = 32;
+    pidProfile->yawItermIgnoreRate = 55;
     pidProfile->dterm_filter_type = FILTER_BIQUAD;
     pidProfile->dterm_lpf_hz = 100;    // filtering ON by default
     pidProfile->dterm_notch_hz = 260;
     pidProfile->dterm_notch_cutoff = 160;
     pidProfile->vbatPidCompensation = 0;
     pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
+    pidProfile->max_angle_inclination = 70.0f;    // 70 degrees
 
     // Betaflight PID controller parameters
     pidProfile->setpointRelaxRatio = 30;
     pidProfile->dtermSetpointWeight = 200;
-    pidProfile->yawRateAccelLimit = 220;
+    pidProfile->yawRateAccelLimit = 20.0f;
-    pidProfile->rateAccelLimit = 0;
+    pidProfile->rateAccelLimit = 0.0f;
-    pidProfile->itermThrottleGain = 0;
+    pidProfile->itermThrottleThreshold = 350;
     pidProfile->levelSensitivity = 2.0f;
-
-#ifdef GTUNE
-    pidProfile->gtune_lolimP[ROLL] = 10;          // [0..200] Lower limit of ROLL P during G tune.
-    pidProfile->gtune_lolimP[PITCH] = 10;         // [0..200] Lower limit of PITCH P during G tune.
-    pidProfile->gtune_lolimP[YAW] = 10;           // [0..200] Lower limit of YAW P during G tune.
-    pidProfile->gtune_hilimP[ROLL] = 100;         // [0..200] Higher limit of ROLL P during G tune. 0 Disables tuning for that axis.
-    pidProfile->gtune_hilimP[PITCH] = 100;        // [0..200] Higher limit of PITCH P during G tune. 0 Disables tuning for that axis.
-    pidProfile->gtune_hilimP[YAW] = 100;          // [0..200] Higher limit of YAW P during G tune. 0 Disables tuning for that axis.
-    pidProfile->gtune_pwr = 0;                    // [0..10] Strength of adjustment
-    pidProfile->gtune_settle_time = 450;          // [200..1000] Settle time in ms
-    pidProfile->gtune_average_cycles = 16;        // [8..128] Number of looptime cycles used for gyro average calculation
-#endif
 }
 
 void resetProfile(profile_t *profile)
@@ -624,7 +613,6 @@ void createDefaultConfig(master_t *config)
     config->gyroConfig.gyro_sync_denom = 4;
     config->pidConfig.pid_process_denom = 2;
 #endif
-    config->pidConfig.max_angle_inclination = 700;    // 70 degrees
     config->gyroConfig.gyro_soft_lpf_type = FILTER_PT1;
     config->gyroConfig.gyro_soft_lpf_hz = 90;
     config->gyroConfig.gyro_soft_notch_hz_1 = 400;

src/main/fc/fc_main.c

@@ -63,7 +63,6 @@
 #include "flight/servos.h"
 #include "flight/pid.h"
 #include "flight/failsafe.h"
-#include "flight/gtune.h"
 #include "flight/altitudehold.h"
 
 #include "config/config_profile.h"
@@ -93,13 +92,25 @@ uint8_t motorControlEnable = false;
 int16_t telemTemperature1;      // gyro sensor temperature
 static uint32_t disarmAt;     // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
 
-extern uint8_t PIDweight[3];
+static float throttlePIDAttenuation;
 
 uint16_t filteredCycleTime;
 bool isRXDataNew;
 static bool armingCalibrationWasInitialised;
-float setpointRate[3];
+static float setpointRate[3];
-float rcInput[3];
+static float rcDeflection[3];
+
+float getThrottlePIDAttenuation(void) {
+    return throttlePIDAttenuation;
+}
+
+float getSetpointRate(int axis) {
+    return setpointRate[axis];
+}
+
+float getRcDeflection(int axis) {
+    return rcDeflection[axis];
+}
 
 void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta)
 {
@@ -109,30 +120,6 @@ void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsD
     saveConfigAndNotify();
 }
 
-#ifdef GTUNE
-
-void updateGtuneState(void)
-{
-    static bool GTuneWasUsed = false;
-
-    if (IS_RC_MODE_ACTIVE(BOXGTUNE)) {
-        if (!FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
-            ENABLE_FLIGHT_MODE(GTUNE_MODE);
-            init_Gtune(&currentProfile->pidProfile);
-            GTuneWasUsed = true;
-        }
-        if (!FLIGHT_MODE(GTUNE_MODE) && !ARMING_FLAG(ARMED) && GTuneWasUsed) {
-            saveConfigAndNotify();
-            GTuneWasUsed = false;
-        }
-    } else {
-        if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
-            DISABLE_FLIGHT_MODE(GTUNE_MODE);
-        }
-    }
-}
-#endif
-
 bool isCalibrating()
 {
 #ifdef BARO
@@ -162,11 +149,11 @@ void calculateSetpointRate(int axis, int16_t rc) {
 
     if (rcRate > 2.0f) rcRate = rcRate + (RC_RATE_INCREMENTAL * (rcRate - 2.0f));
     rcCommandf = rc / 500.0f;
-    rcInput[axis] = ABS(rcCommandf);
+    rcDeflection[axis] = ABS(rcCommandf);
 
     if (rcExpo) {
         float expof = rcExpo / 100.0f;
-        rcCommandf = rcCommandf * power3(rcInput[axis]) * expof + rcCommandf * (1-expof);
+        rcCommandf = rcCommandf * power3(rcDeflection[axis]) * expof + rcCommandf * (1-expof);
     }
 
     angleRate = 200.0f * rcRate * rcCommandf;
@@ -199,20 +186,45 @@ void scaleRcCommandToFpvCamAngle(void) {
     rcCommand[YAW]  = constrain(yaw  * cosFactor + roll * sinFactor, -500, 500);
 }
 
+#define THROTTLE_BUFFER_MAX 20
+#define THROTTLE_DELTA_MS 100
+
+ void checkForThrottleErrorResetState(uint16_t rxRefreshRate) {
+    static int index;
+    static int16_t rcCommandThrottlePrevious[THROTTLE_BUFFER_MAX];
+    const int rxRefreshRateMs = rxRefreshRate / 1000;
+    const int indexMax = constrain(THROTTLE_DELTA_MS / rxRefreshRateMs, 1, THROTTLE_BUFFER_MAX);
+    const int16_t throttleVelocityThreshold = (feature(FEATURE_3D)) ? currentProfile->pidProfile.itermThrottleThreshold / 2 : currentProfile->pidProfile.itermThrottleThreshold;
+
+    rcCommandThrottlePrevious[index++] = rcCommand[THROTTLE];
+    if (index >= indexMax)
+        index = 0;
+
+    const int16_t rcCommandSpeed = rcCommand[THROTTLE] - rcCommandThrottlePrevious[index];
+
+    if(ABS(rcCommandSpeed) > throttleVelocityThreshold)
+        pidResetErrorGyroState();
+}
+
 void processRcCommand(void)
 {
     static int16_t lastCommand[4] = { 0, 0, 0, 0 };
     static int16_t deltaRC[4] = { 0, 0, 0, 0 };
     static int16_t factor, rcInterpolationFactor;
+    static uint16_t currentRxRefreshRate;
     uint16_t rxRefreshRate;
     bool readyToCalculateRate = false;
 
+    if (isRXDataNew) {
+        currentRxRefreshRate = constrain(getTaskDeltaTime(TASK_RX),1000,20000);
+        checkForThrottleErrorResetState(currentRxRefreshRate);
+    }
+
     if (rxConfig()->rcInterpolation || flightModeFlags) {
-        if (isRXDataNew) {
+         // Set RC refresh rate for sampling and channels to filter
-            // Set RC refresh rate for sampling and channels to filter
+        switch(rxConfig()->rcInterpolation) {
-            switch (rxConfig()->rcInterpolation) {
             case(RC_SMOOTHING_AUTO):
-                rxRefreshRate = constrain(getTaskDeltaTime(TASK_RX), 1000, 20000) + 1000; // Add slight overhead to prevent ramps
+                rxRefreshRate = currentRxRefreshRate + 1000; // Add slight overhead to prevent ramps
                 break;
             case(RC_SMOOTHING_MANUAL):
                 rxRefreshRate = 1000 * rxConfig()->rcInterpolationInterval;
@@ -221,8 +233,9 @@ void processRcCommand(void)
             case(RC_SMOOTHING_DEFAULT):
             default:
                 rxRefreshRate = rxGetRefreshRate();
-            }
+        }
 
+        if (isRXDataNew) {
             rcInterpolationFactor = rxRefreshRate / targetPidLooptime + 1;
 
             if (debugMode == DEBUG_RC_INTERPOLATION) {
@@ -269,17 +282,18 @@ void updateRcCommands(void)
     int32_t prop;
     if (rcData[THROTTLE] < currentControlRateProfile->tpa_breakpoint) {
         prop = 100;
+        throttlePIDAttenuation = 1.0f;
     } else {
         if (rcData[THROTTLE] < 2000) {
             prop = 100 - (uint16_t)currentControlRateProfile->dynThrPID * (rcData[THROTTLE] - currentControlRateProfile->tpa_breakpoint) / (2000 - currentControlRateProfile->tpa_breakpoint);
         } else {
             prop = 100 - currentControlRateProfile->dynThrPID;
         }
+        throttlePIDAttenuation = prop / 100.0f;
     }
 
     for (int axis = 0; axis < 3; axis++) {
         // non coupled PID reduction scaler used in PID controller 1 and PID controller 2.
-        PIDweight[axis] = prop;
 
         int32_t tmp = MIN(ABS(rcData[axis] - rxConfig()->midrc), 500);
         if (axis == ROLL || axis == PITCH) {
@@ -678,9 +692,7 @@ void subTaskPidController(void)
     // PID - note this is function pointer set by setPIDController()
     pidController(
         &currentProfile->pidProfile,
-        pidConfig()->max_angle_inclination,
+        &accelerometerConfig()->accelerometerTrims
-        &accelerometerConfig()->accelerometerTrims,
-        rxConfig()->midrc
     );
     if (debugMode == DEBUG_PIDLOOP || debugMode == DEBUG_SCHEDULER) {debug[1] = micros() - startTime;}
 }

src/main/fc/fc_main.h

@@ -34,3 +34,6 @@ void updateLEDs(void);
 void updateRcCommands(void);
 
 void taskMainPidLoop(timeUs_t currentTimeUs);
+float getThrottlePIDAttenuation(void);
+float getSetpointRate(int axis);
+float getRcDeflection(int axis);

src/main/fc/fc_msp.c

@@ -49,7 +49,7 @@
 #include "drivers/serial_escserial.h"
 
 #include "fc/config.h"
-#include "fc/mw.h"
+#include "fc/fc_main.h"
 #include "fc/fc_msp.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
@@ -401,10 +401,6 @@ void initActiveBoxIds(void)
     }
 #endif
 
-#ifdef GTUNE
-    activeBoxIds[activeBoxIdCount++] = BOXGTUNE;
-#endif
-
 #ifdef USE_SERVOS
     if (mixerConfig()->mixerMode == MIXER_CUSTOM_AIRPLANE) {
         activeBoxIds[activeBoxIdCount++] = BOXSERVO1;
@@ -1167,9 +1163,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
         sbufWriteU8(dst, currentProfile->pidProfile.dtermSetpointWeight);
         sbufWriteU8(dst, 0); // reserved
         sbufWriteU8(dst, 0); // reserved
-        sbufWriteU8(dst, currentProfile->pidProfile.itermThrottleGain);
+        sbufWriteU8(dst, 0); // reserved
-        sbufWriteU16(dst, currentProfile->pidProfile.rateAccelLimit);
+        sbufWriteU16(dst, currentProfile->pidProfile.rateAccelLimit * 10);
-        sbufWriteU16(dst, currentProfile->pidProfile.yawRateAccelLimit);
+        sbufWriteU16(dst, currentProfile->pidProfile.yawRateAccelLimit * 10);
         break;
 
     case MSP_SENSOR_CONFIG:
@@ -1515,9 +1511,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         currentProfile->pidProfile.dtermSetpointWeight = sbufReadU8(src);
         sbufReadU8(src); // reserved
         sbufReadU8(src); // reserved
-        currentProfile->pidProfile.itermThrottleGain = sbufReadU8(src);
+        sbufReadU8(src); // reserved
-        currentProfile->pidProfile.rateAccelLimit = sbufReadU16(src);
+        currentProfile->pidProfile.rateAccelLimit = sbufReadU16(src) / 10.0f;
-        currentProfile->pidProfile.yawRateAccelLimit = sbufReadU16(src);
+        currentProfile->pidProfile.yawRateAccelLimit = sbufReadU16(src) / 10.0f;
         pidInitConfig(&currentProfile->pidProfile);
         break;
 

src/main/fc/fc_tasks.c

@@ -36,7 +36,7 @@
 #include "fc/config.h"
 #include "fc/fc_msp.h"
 #include "fc/fc_tasks.h"
-#include "fc/mw.h"
+#include "fc/fc_main.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 

src/main/fc/rc_controls.c

@@ -35,7 +35,7 @@
 #include "drivers/system.h"
 
 #include "fc/config.h"
-#include "fc/mw.h"
+#include "fc/fc_main.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
 #include "fc/runtime_config.h"

src/main/fc/runtime_config.h

@@ -42,8 +42,7 @@ typedef enum {
     UNUSED_MODE     = (1 << 7), // old autotune
     PASSTHRU_MODE   = (1 << 8),
     SONAR_MODE      = (1 << 9),
-    FAILSAFE_MODE   = (1 << 10),
+    FAILSAFE_MODE   = (1 << 10)
-    GTUNE_MODE      = (1 << 11)
 } flightModeFlags_e;
 
 extern uint16_t flightModeFlags;

src/main/flight/gtune.c

@@ -1,211 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdbool.h>
-#include <stdint.h>
-#include <string.h>
-#include <math.h>
-
-#include "platform.h"
-
-#ifdef GTUNE
-
-#include "common/axis.h"
-#include "common/maths.h"
-
-#include "drivers/system.h"
-#include "drivers/sensor.h"
-#include "drivers/accgyro.h"
-
-#include "sensors/sensors.h"
-#include "sensors/gyro.h"
-#include "sensors/acceleration.h"
-
-#include "flight/pid.h"
-#include "flight/imu.h"
-
-#include "blackbox/blackbox.h"
-
-#include "fc/config.h"
-#include "fc/rc_controls.h"
-#include "fc/runtime_config.h"
-
-
-extern uint16_t cycleTime;
-extern uint8_t motorCount;
-
-/*
- ****************************************************************************
- ***                    G_Tune                                            ***
- ****************************************************************************
-    G_Tune Mode
-    This is the multiwii implementation of ZERO-PID Algorithm
-    http://technicaladventure.blogspot.com/2014/06/zero-pids-tuner-for-multirotors.html
-    The algorithm has been originally developed by Mohammad Hefny (mohammad.hefny@gmail.com)
-
-    You may use/modify this algorithm on your own risk, kindly refer to above link in any future distribution.
- */
-
-/*
-   version 1.0.0: MIN & Maxis & Tuned Band
-   version 1.0.1:
-                a. error is gyro reading not rc - gyro.
-                b. OldError = Error no averaging.
-                c. No Min Maxis BOUNDRY
-    version 1.0.2:
-                a. no boundaries
-                b. I - Factor tune.
-                c. time_skip
-
-   Crashpilot: Reduced to just P tuning in a predefined range - so it is not "zero pid" anymore.
-   Tuning is limited to just work when stick is centered besides that YAW is tuned in non Acro as well.
-   See also:
-   http://diydrones.com/profiles/blogs/zero-pid-tunes-for-multirotors-part-2
-   http://www.multiwii.com/forum/viewtopic.php?f=8&t=5190
-   Gyrosetting 2000DPS
-   GyroScale = (1 / 16,4 ) * RADX(see board.h) = 0,001064225154 digit per rad/s
-
-    pidProfile->gtune_lolimP[ROLL]   = 10;  [0..200] Lower limit of ROLL P during G tune.
-    pidProfile->gtune_lolimP[PITCH]  = 10;  [0..200] Lower limit of PITCH P during G tune.
-    pidProfile->gtune_lolimP[YAW]    = 10;  [0..200] Lower limit of YAW P during G tune.
-    pidProfile->gtune_hilimP[ROLL]   = 100; [0..200] Higher limit of ROLL P during G tune. 0 Disables tuning for that axisis.
-    pidProfile->gtune_hilimP[PITCH]  = 100; [0..200] Higher limit of PITCH P during G tune. 0 Disables tuning for that axisis.
-    pidProfile->gtune_hilimP[YAW]    = 100; [0..200] Higher limit of YAW P during G tune. 0 Disables tuning for that axisis.
-    pidProfile->gtune_pwr            = 0;   [0..10] Strength of adjustment
-    pidProfile->gtune_settle_time    = 450; [200..1000] Settle time in ms
-    pidProfile->gtune_average_cycles = 16;  [8..128] Number of looptime cycles used for gyro average calculation
-*/
-
-static pidProfile_t *pidProfile;
-static int16_t delay_cycles;
-static int16_t time_skip[3];
-static int16_t OldError[3], result_P64[3];
-static int32_t AvgGyro[3];
-static bool floatPID;
-
-void updateDelayCycles(void)
-{
-    delay_cycles = -(((int32_t)pidProfile->gtune_settle_time * 1000) / cycleTime);
-}
-
-void init_Gtune(pidProfile_t *pidProfileToTune)
-{
-    uint8_t i;
-
-    pidProfile = pidProfileToTune;
-    if (pidProfile->pidController == 2) {
-        floatPID = true;                                                        // LuxFloat is using float values for PID settings
-    } else {
-        floatPID = false;
-    }
-    updateDelayCycles();
-    for (i = 0; i < 3; i++) {
-        if ((pidProfile->gtune_hilimP[i] && pidProfile->gtune_lolimP[i] > pidProfile->gtune_hilimP[i]) || (motorCount < 4 && i == FD_YAW)) { // User config error disable axisis for tuning
-            pidProfile->gtune_hilimP[i] = 0;                                    // Disable YAW tuning for everything below a quadcopter
-        }
-        if (floatPID) {
-            if((pidProfile->P_f[i] * 10.0f) < pidProfile->gtune_lolimP[i]) {
-                pidProfile->P_f[i] = (float)(pidProfile->gtune_lolimP[i] / 10.0f);
-            }
-            result_P64[i] = (int16_t)pidProfile->P_f[i] << 6;                   // 6 bit extra resolution for P.
-        } else {
-            if(pidProfile->P8[i] < pidProfile->gtune_lolimP[i]) {
-                pidProfile->P8[i] = pidProfile->gtune_lolimP[i];
-            }
-            result_P64[i] = (int16_t)pidProfile->P8[i] << 6;                    // 6 bit extra resolution for P.
-        }
-        OldError[i] = 0;
-        time_skip[i] = delay_cycles;
-    }
-}
-
-void calculate_Gtune(uint8_t axis)
-{
-    int16_t error, diff_G, threshP;
-
-    if(rcCommand[axis] || (axis != FD_YAW && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)))) {  // Block tuning on stick input. Always allow G-Tune on YAW, Roll & Pitch only in acromode
-        OldError[axis] = 0;
-        time_skip[axis] = delay_cycles;                                         // Some settle time after stick center. default 450ms
-    } else {
-        if (!time_skip[axis]) AvgGyro[axis] = 0;
-        time_skip[axis]++;
-        if (time_skip[axis] > 0) {
-            if (axis == FD_YAW) {
-                AvgGyro[axis] += 32 * ((int16_t)gyroADC[axis] / 32);           // Chop some jitter and average
-            } else {
-                AvgGyro[axis] += 128 * ((int16_t)gyroADC[axis] / 128);         // Chop some jitter and average
-            }
-        }
-        if (time_skip[axis] == pidProfile->gtune_average_cycles) {              // Looptime cycles for gyro average calculation. default 16.
-            AvgGyro[axis] /= time_skip[axis];                                   // AvgGyro[axis] has now very clean gyrodata
-            time_skip[axis] = 0;
-            if (axis == FD_YAW) {
-                threshP = 20;
-                error = -AvgGyro[axis];
-            } else {
-                threshP = 10;
-                error = AvgGyro[axis];
-            }
-            if (pidProfile->gtune_hilimP[axis] && error && OldError[axis] && error != OldError[axis]) {  // Don't run when not needed or pointless to do so
-                diff_G = ABS(error) - ABS(OldError[axis]);
-                if ((error > 0 && OldError[axis] > 0) || (error < 0 && OldError[axis] < 0)) {
-                    if (diff_G > threshP) {
-                        if (axis == FD_YAW) {
-                            result_P64[axis] += 256 + pidProfile->gtune_pwr;    // YAW ends up at low limit on float PID, give it some more to work with.
-                        } else {
-                            result_P64[axis] += 64 + pidProfile->gtune_pwr;     // Shift balance a little on the plus side.
-                        }
-                    } else {
-                        if (diff_G < -threshP) {
-                            if (axis == FD_YAW) {
-                                result_P64[axis] -= 64 + pidProfile->gtune_pwr;
-                            } else {
-                                result_P64[axis] -= 32;
-                            }
-                        }
-                    }
-                } else {
-                    if (ABS(diff_G) > threshP && axis != FD_YAW) {
-                        result_P64[axis] -= 32;                                 // Don't use antiwobble for YAW
-                    }
-                }
-                int16_t newP = constrain((result_P64[axis] >> 6), (int16_t)pidProfile->gtune_lolimP[axis], (int16_t)pidProfile->gtune_hilimP[axis]);
-
-#ifdef BLACKBOX
-                if (feature(FEATURE_BLACKBOX)) {
-                    flightLogEvent_gtuneCycleResult_t eventData;
-
-                    eventData.gtuneAxis = axis;
-                    eventData.gtuneGyroAVG = AvgGyro[axis];
-                    eventData.gtuneNewP = newP;                                 // for float PID the logged P value is still mutiplyed by 10
-                    blackboxLogEvent(FLIGHT_LOG_EVENT_GTUNE_RESULT, (flightLogEventData_t*)&eventData);
-                }
-#endif
-
-                if (floatPID) {
-                    pidProfile->P_f[axis] = (float)newP / 10.0f;                // new P value for float PID
-                } else {
-                    pidProfile->P8[axis] = newP;                                // new P value
-                }
-            }
-            OldError[axis] = error;
-        }
-    }
-}
-
-#endif
-

src/main/flight/gtune.h

@@ -1,21 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-void init_Gtune(pidProfile_t *pidProfileToTune);
-void calculate_Gtune(uint8_t axis);

src/main/flight/mixer.c

@@ -534,19 +534,6 @@ void mixTable(pidProfile_t *pidProfile)
         }
     }
 
-    // Anti Desync feature for ESC's. Limit rapid throttle changes
-    if (motorConfig->maxEscThrottleJumpMs) {
-        const int16_t maxThrottleStep = constrain(motorConfig->maxEscThrottleJumpMs / (1000 / targetPidLooptime), 2, 10000);
-
-        // Only makes sense when it's within the range
-        if (maxThrottleStep < motorOutputRange) {
-            static int16_t motorPrevious[MAX_SUPPORTED_MOTORS];
-
-            motor[i] = constrain(motor[i], motorOutputMin, motorPrevious[i] + maxThrottleStep);  // Only limit accelerating situation
-            motorPrevious[i] = motor[i];
-        }
-    }
-
     // Disarmed mode
     if (!ARMING_FLAG(ARMED)) {
         for (i = 0; i < motorCount; i++) {

src/main/flight/pid.c

@@ -28,28 +28,22 @@
 #include "common/maths.h"
 #include "common/filter.h"
 
+#include "fc/fc_main.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
 #include "flight/pid.h"
 #include "flight/imu.h"
 #include "flight/navigation.h"
-#include "flight/gtune.h"
 
 #include "sensors/gyro.h"
 #include "sensors/acceleration.h"
 
-extern float rcInput[3];
-extern float setpointRate[3];
-
 uint32_t targetPidLooptime;
 static bool pidStabilisationEnabled;
 
 float axisPIDf[3];
 
-// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
-uint8_t PIDweight[3];
-
 #ifdef BLACKBOX
 int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
 #endif
@@ -146,8 +140,7 @@ void pidInitFilters(const pidProfile_t *pidProfile)
     }
 }
 
-static float Kp[3], Ki[3], Kd[3], c[3];
+static float Kp[3], Ki[3], Kd[3], c[3], levelGain, horizonGain, horizonTransition, maxVelocity[3], relaxFactor[3];
-static float rollPitchMaxVelocity, yawMaxVelocity, relaxFactor[3];
 
 void pidInitConfig(const pidProfile_t *pidProfile) {
     for(int axis = FD_ROLL; axis <= FD_YAW; axis++) {
@@ -157,88 +150,85 @@ void pidInitConfig(const pidProfile_t *pidProfile) {
         c[axis] = pidProfile->dtermSetpointWeight / 100.0f;
         relaxFactor[axis] = 1.0f - (pidProfile->setpointRelaxRatio / 100.0f);
     }
-    yawMaxVelocity = pidProfile->yawRateAccelLimit * 1000 * dT;
+    levelGain = pidProfile->P8[PIDLEVEL] / 10.0f;
-    rollPitchMaxVelocity = pidProfile->rateAccelLimit * 1000 * dT;
+    horizonGain = pidProfile->I8[PIDLEVEL] / 10.0f;
+    horizonTransition = 100.0f / pidProfile->D8[PIDLEVEL];
+    maxVelocity[FD_ROLL] = maxVelocity[FD_PITCH] = pidProfile->rateAccelLimit * 1000 * dT;
+    maxVelocity[FD_YAW] = pidProfile->yawRateAccelLimit * 1000 * dT;
+}
+
+float currentPidSetpoint = 0, horizonLevelStrength = 1.0f;
+
+void calcHorizonLevelStrength(const pidProfile_t *pidProfile) {
+    const float mostDeflectedPos = MAX(getRcDeflection(FD_ROLL), getRcDeflection(FD_PITCH));
+    // Progressively turn off the horizon self level strength as the stick is banged over
+    horizonLevelStrength = (1.0f - mostDeflectedPos);  // 1 at centre stick, 0 = max stick deflection
+    if(pidProfile->D8[PIDLEVEL] == 0){
+        horizonLevelStrength = 0;
+    } else {
+        horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * horizonTransition) + 1, 0, 1);
+    }
+}
+
+void pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim) {
+    // calculate error angle and limit the angle to the max inclination
+    float errorAngle = pidProfile->levelSensitivity * rcCommand[axis];
+#ifdef GPS
+    errorAngle += GPS_angle[axis];
+#endif
+    errorAngle = constrainf(errorAngle, -pidProfile->max_angle_inclination, pidProfile->max_angle_inclination);
+    errorAngle = (errorAngle - ((attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f));
+    if(FLIGHT_MODE(ANGLE_MODE)) {
+        // ANGLE mode - control is angle based, so control loop is needed
+        currentPidSetpoint = errorAngle * levelGain;
+    } else {
+        // HORIZON mode - direct sticks control is applied to rate PID
+        // mix up angle error to desired AngleRate to add a little auto-level feel
+        currentPidSetpoint = currentPidSetpoint + (errorAngle * horizonGain * horizonLevelStrength);
+    }
+}
+
+void accelerationLimit(int axis) {
+    static float previousSetpoint[3];
+    const float currentVelocity = currentPidSetpoint- previousSetpoint[axis];
+
+    if(ABS(currentVelocity) > maxVelocity[axis])
+        currentPidSetpoint = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity[axis] : previousSetpoint[axis] - maxVelocity[axis];
+
+    previousSetpoint[axis] = currentPidSetpoint;
 }
 
 // Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage.
 // Based on 2DOF reference design (matlab)
-void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclination, const rollAndPitchTrims_t *angleTrim, uint16_t midrc)
+void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim)
 {
     static float previousRateError[2];
     static float previousSetpoint[3];
 
-    float horizonLevelStrength = 1;
+    if(FLIGHT_MODE(HORIZON_MODE))
-    if (FLIGHT_MODE(HORIZON_MODE)) {
+        calcHorizonLevelStrength(pidProfile);
-        // Figure out the raw stick positions
-        const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, midrc));
-        const int32_t stickPosEle = ABS(getRcStickDeflection(FD_PITCH, midrc));
-        const int32_t mostDeflectedPos = MAX(stickPosAil, stickPosEle);
-        // Progressively turn off the horizon self level strength as the stick is banged over
-        horizonLevelStrength = (float)(500 - mostDeflectedPos) / 500;  // 1 at centre stick, 0 = max stick deflection
-        if(pidProfile->D8[PIDLEVEL] == 0){
-            horizonLevelStrength = 0;
-        } else {
-            horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (100 / pidProfile->D8[PIDLEVEL])) + 1, 0, 1);
-        }
-    }
-
-    // Yet Highly experimental and under test and development
-    // Throttle coupled to Igain like inverted TPA // 50hz calculation (should cover all rx protocols)
-    static float kiThrottleGain = 1.0f;
-    if (pidProfile->itermThrottleGain) {
-        const uint16_t maxLoopCount = 20000 / targetPidLooptime;
-        const float throttleItermGain = (float)pidProfile->itermThrottleGain * 0.001f;
-        static int16_t previousThrottle;
-        static uint16_t loopIncrement;
-
-        if (loopIncrement >= maxLoopCount) {
-            kiThrottleGain = 1.0f + constrainf((float)(ABS(rcCommand[THROTTLE] - previousThrottle)) * throttleItermGain, 0.0f, 5.0f); // Limit to factor 5
-            previousThrottle = rcCommand[THROTTLE];
-            loopIncrement = 0;
-        } else {
-            loopIncrement++;
-        }
-    }
 
     // ----------PID controller----------
-    const float tpaFactor = PIDweight[0] / 100.0f; // tpa is now float
+    const float tpaFactor = getThrottlePIDAttenuation();
+
     for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
-        // Limit abrupt yaw inputs / stops
+        currentPidSetpoint = getSetpointRate(axis);
-        const float maxVelocity = (axis == FD_YAW) ? yawMaxVelocity : rollPitchMaxVelocity;
+
-        if (maxVelocity) {
+        if(maxVelocity[axis])
-            const float currentVelocity = setpointRate[axis] - previousSetpoint[axis];
+            accelerationLimit(axis);
-            if (ABS(currentVelocity) > maxVelocity) {
-                setpointRate[axis] = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity : previousSetpoint[axis] - maxVelocity;
-            }
-        }
 
         // Yaw control is GYRO based, direct sticks control is applied to rate PID
         if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
-            // calculate error angle and limit the angle to the max inclination
+            pidLevel(axis, pidProfile, angleTrim);
-            float errorAngle = pidProfile->levelSensitivity * rcCommand[axis];
-#ifdef GPS
-            errorAngle += GPS_angle[axis];
-#endif
-            errorAngle = constrainf(errorAngle, -max_angle_inclination, max_angle_inclination);
-            errorAngle = (errorAngle - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f;
-            if (FLIGHT_MODE(ANGLE_MODE)) {
-                // ANGLE mode - control is angle based, so control loop is needed
-                setpointRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 10.0f;
-            } else {
-                // HORIZON mode - direct sticks control is applied to rate PID
-                // mix up angle error to desired AngleRate to add a little auto-level feel
-                setpointRate[axis] = setpointRate[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 10.0f);
-            }
         }
 
-        const float PVRate = gyro.gyroADCf[axis]; // Process variable from gyro output in deg/sec
+        const float gyroRate = gyro.gyroADCf[axis]; // Process variable from gyro output in deg/sec
 
         // --------low-level gyro-based PID based on 2DOF PID controller. ----------
         //  ---------- 2-DOF PID controller with optional filter on derivative term. b = 1 and only c can be tuned (amount derivative on measurement or error).  ----------
 
         // -----calculate error rate
-        const float errorRate = setpointRate[axis] - PVRate;       // r - y
+        const float errorRate = currentPidSetpoint - gyroRate;       // r - y
 
         // -----calculate P component and add Dynamic Part based on stick input
         float PTerm = Kp[axis] * errorRate * tpaFactor;
@@ -246,11 +236,10 @@ void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
         // -----calculate I component
         // Reduce strong Iterm accumulation during higher stick inputs
         const float accumulationThreshold = (axis == FD_YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
-        const float setpointRateScaler = constrainf(1.0f - (ABS(setpointRate[axis]) / accumulationThreshold), 0.0f, 1.0f);
+        const float setpointRateScaler = constrainf(1.0f - (ABS(currentPidSetpoint) / accumulationThreshold), 0.0f, 1.0f);
-        const float itermScaler = setpointRateScaler * kiThrottleGain;
 
         float ITerm = previousGyroIf[axis];
-        ITerm += Ki[axis] * errorRate * dT * itermScaler;;
+        ITerm += Ki[axis] * errorRate * dT * setpointRateScaler;
         // limit maximum integrator value to prevent WindUp
         ITerm = constrainf(ITerm, -250.0f, 250.0f);
         previousGyroIf[axis] = ITerm;
@@ -260,16 +249,17 @@ void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
         if (axis != FD_YAW) {
             float dynC = c[axis];
             if (pidProfile->setpointRelaxRatio < 100) {
+                const float rcDeflection = getRcDeflection(axis);
                 dynC = c[axis];
-                if (setpointRate[axis] > 0) {
+                if (currentPidSetpoint > 0) {
-                    if ((setpointRate[axis] - previousSetpoint[axis]) < previousSetpoint[axis])
+                    if ((currentPidSetpoint - previousSetpoint[axis]) < previousSetpoint[axis])
-                        dynC = dynC * sq(rcInput[axis]) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
+                        dynC = dynC * sq(rcDeflection) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
-                } else if (setpointRate[axis] < 0) {
+                } else if (currentPidSetpoint < 0) {
-                    if ((setpointRate[axis] - previousSetpoint[axis]) > previousSetpoint[axis])
+                    if ((currentPidSetpoint - previousSetpoint[axis]) > previousSetpoint[axis])
-                        dynC = dynC * sq(rcInput[axis]) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
+                        dynC = dynC * sq(rcDeflection) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
                 }
             }
-            const float rD = dynC * setpointRate[axis] - PVRate;    // cr - y
+            const float rD = dynC * currentPidSetpoint - gyroRate;    // cr - y
             // Divide rate change by dT to get differential (ie dr/dt)
             const float delta = (rD - previousRateError[axis]) / dT;
             previousRateError[axis] = rD;
@@ -284,19 +274,13 @@ void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
         } else {
             PTerm = ptermYawFilterApplyFn(ptermYawFilter, PTerm);
         }
-        previousSetpoint[axis] = setpointRate[axis];
+        previousSetpoint[axis] = currentPidSetpoint;
 
         // -----calculate total PID output
         axisPIDf[axis] = PTerm + ITerm + DTerm;
         // Disable PID control at zero throttle
         if (!pidStabilisationEnabled) axisPIDf[axis] = 0;
 
-#ifdef GTUNE
-        if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
-            calculate_Gtune(axis);
-        }
-#endif
-
 #ifdef BLACKBOX
         axisPID_P[axis] = PTerm;
         axisPID_I[axis] = ITerm;

src/main/flight/pid.h

@@ -72,31 +72,23 @@ typedef struct pidProfile_s {
     uint8_t dterm_average_count;            // Configurable delta count for dterm
     uint8_t vbatPidCompensation;            // Scale PIDsum to battery voltage
     uint8_t pidAtMinThrottle;               // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
+    float max_angle_inclination;
 
     // Betaflight PID controller parameters
-    uint8_t itermThrottleGain;              // Throttle coupling to iterm. Quick throttle changes will bump iterm
+    uint16_t itermThrottleThreshold;        // max allowed throttle delta before errorGyroReset in ms
     uint8_t setpointRelaxRatio;             // Setpoint weight relaxation effect
     uint8_t dtermSetpointWeight;            // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
-    uint16_t yawRateAccelLimit;             // yaw accel limiter for deg/sec/ms
+    float yawRateAccelLimit;                // yaw accel limiter for deg/sec/ms
-    uint16_t rateAccelLimit;                // accel limiter roll/pitch deg/sec/ms
+    float rateAccelLimit;                   // accel limiter roll/pitch deg/sec/ms
     float levelSensitivity;
-
-#ifdef GTUNE
-    uint8_t  gtune_lolimP[3];               // [0..200] Lower limit of P during G tune
-    uint8_t  gtune_hilimP[3];               // [0..200] Higher limit of P during G tune. 0 Disables tuning for that axis.
-    uint8_t  gtune_pwr;                     // [0..10] Strength of adjustment
-    uint16_t gtune_settle_time;             // [200..1000] Settle time in ms
-    uint8_t  gtune_average_cycles;          // [8..128] Number of looptime cycles used for gyro average calculation
-#endif
 } pidProfile_t;
 
 typedef struct pidConfig_s {
     uint8_t pid_process_denom;              // Processing denominator for PID controller vs gyro sampling rate
-    uint16_t max_angle_inclination;
 } pidConfig_t;
 
 union rollAndPitchTrims_u;
-void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclination, const union rollAndPitchTrims_u *angleTrim, uint16_t midrc);
+void pidController(const pidProfile_t *pidProfile, const union rollAndPitchTrims_u *angleTrim);
 
 extern float axisPIDf[3];
 extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];

src/main/io/motors.h

@@ -24,7 +24,6 @@ typedef struct motorConfig_s {
     uint16_t minthrottle;                   // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
     uint16_t maxthrottle;                   // This is the maximum value for the ESCs at full power this value can be increased up to 2000
     uint16_t mincommand;                    // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
-    uint16_t maxEscThrottleJumpMs;
     uint16_t motorPwmRate;                  // The update rate of motor outputs (50-498Hz)
     uint8_t  motorPwmProtocol;              // Pwm Protocol
     uint8_t  useUnsyncedPwm;

src/main/io/serial_cli.c

@@ -715,8 +715,6 @@ const clivalue_t valueTable[] = {
 #ifdef USE_DSHOT
     { "digital_idle_percent",       VAR_FLOAT  | MASTER_VALUE,  &motorConfig()->digitalIdleOffsetPercent, .config.minmax = { 0,  20} },
 #endif
-    { "max_esc_throttle_jump",      VAR_UINT16 | MASTER_VALUE,  &motorConfig()->maxEscThrottleJumpMs, .config.minmax = { 0,  1000 } },
-
     { "3d_deadband_low",            VAR_UINT16 | MASTER_VALUE,  &flight3DConfig()->deadband3d_low, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } }, // FIXME upper limit should match code in the mixer, 1500 currently
     { "3d_deadband_high",           VAR_UINT16 | MASTER_VALUE,  &flight3DConfig()->deadband3d_high, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } }, // FIXME lower limit should match code in the mixer, 1500 currently,
     { "3d_neutral",                 VAR_UINT16 | MASTER_VALUE,  &flight3DConfig()->neutral3d, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
@@ -757,18 +755,6 @@ const clivalue_t valueTable[] = {
     { "nav_slew_rate",              VAR_UINT8  | MASTER_VALUE, &gpsProfile()->nav_slew_rate, .config.minmax = { 0,  100 } },
 #endif
 
-#ifdef GTUNE
-    { "gtune_loP_rll",              VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], .config.minmax = { 10,  200 } },
-    { "gtune_loP_ptch",             VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_PITCH], .config.minmax = { 10,  200 } },
-    { "gtune_loP_yw",               VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_YAW], .config.minmax = { 10,  200 } },
-    { "gtune_hiP_rll",              VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_ROLL], .config.minmax = { 0,  200 } },
-    { "gtune_hiP_ptch",             VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_PITCH], .config.minmax = { 0,  200 } },
-    { "gtune_hiP_yw",               VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_YAW], .config.minmax = { 0,  200 } },
-    { "gtune_pwr",                  VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_pwr, .config.minmax = { 0,  10 } },
-    { "gtune_settle_time",          VAR_UINT16 | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_settle_time, .config.minmax = { 200,  1000 } },
-    { "gtune_average_cycles",       VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_average_cycles, .config.minmax = { 8,  128 } },
-#endif
-
 #ifdef BEEPER
     { "beeper_inversion",           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &beeperConfig()->isInverted, .config.lookup = { TABLE_OFF_ON } },
     { "beeper_od",                  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &beeperConfig()->isOpenDrain, .config.lookup = { TABLE_OFF_ON } },
@@ -847,7 +833,7 @@ const clivalue_t valueTable[] = {
     { "yaw_motor_direction",        VAR_INT8   | MASTER_VALUE, &mixerConfig()->yaw_motor_direction, .config.minmax = { -1,  1 } },
     { "yaw_p_limit",                VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
     { "pidsum_limit",               VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidSumLimit, .config.minmax = { 0.1, 1.0 } },
-    { "max_angle_inclination",      VAR_UINT16 | MASTER_VALUE,  &pidConfig()->max_angle_inclination, .config.minmax = { 100,  900 } },
+    { "max_angle_inclination",      VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.max_angle_inclination, .config.minmax = { 10.0f,  120.0f } },
 #ifdef USE_SERVOS
     { "servo_center_pulse",         VAR_UINT16 | MASTER_VALUE,  &servoConfig()->servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
     { "tri_unarmed_servo",          VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, &servoMixerConfig()->tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
@@ -906,11 +892,11 @@ const clivalue_t valueTable[] = {
     { "dterm_notch_cutoff",         VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_cutoff, .config.minmax = { 1,  500 } },
     { "vbat_pid_compensation",      VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
     { "pid_at_min_throttle",        VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidAtMinThrottle, .config.lookup = { TABLE_OFF_ON } },
-    { "iterm_throttle_gain",        VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleGain, .config.minmax = {0, 200 } },
+    { "anti_gravity_threshold",     VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleThreshold, .config.minmax = {20, 1000 } },
     { "setpoint_relax_ratio",       VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.setpointRelaxRatio, .config.minmax = {0, 100 } },
     { "dterm_setpoint_weight",      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 255 } },
-    { "yaw_rate_accel_limit",       VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0, 1000 } },
+    { "yaw_accel_limit",            VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0.1f, 50.0f } },
-    { "rate_accel_limit",           VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0, 1000 } },
+    { "accel_limit",                VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0.1f, 50.0f } },
 
     { "accum_threshold",            VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
     { "yaw_accum_threshold",        VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },

src/main/target/COLIBRI_RACE/i2c_bst.c

@@ -29,7 +29,7 @@
 #include "drivers/rx_pwm.h"
 
 #include "fc/config.h"
-#include "fc/mw.h"
+#include "fc/fc_main.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"