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Fix iterm_relax at low cutoff values 

Doesn't adjust threshold upwards when cutoff is reduced below default.
This reverts to original setpoint code behaviour.

Probably better to go back entirely to the original code.

Add changed max on iterm_relax_cutoff to CMS

Restore ITERM_RELAX_SETPOINT_THRESHOLD to float to fix Travis error
This commit is contained in:
ctzsnooze 2020-02-15 12:19:01 +11:00 committed by mikeller
parent e67555db7f
commit 2bbe525853
3 changed files with 3 additions and 4 deletions
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2
src/main/cli/settings.c
View File

@ -1020,7 +1020,7 @@ const clivalue_t valueTable[] = {
#if defined(USE_ITERM_RELAX)
{ "iterm_relax", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ITERM_RELAX }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_relax) },
{ "iterm_relax_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ITERM_RELAX_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_relax_type) },
{ "iterm_relax_cutoff", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 1, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_relax_cutoff) },
{ "iterm_relax_cutoff", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 1, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_relax_cutoff) },
#endif
{ "iterm_windup", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 30, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermWindupPointPercent) },
{ "iterm_limit", VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermLimit) },

2
src/main/cms/cms_menu_imu.c
View File

@ -461,7 +461,7 @@ static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
#ifdef USE_ITERM_RELAX
{ "I_RELAX", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_iterm_relax, ITERM_RELAX_COUNT - 1, lookupTableItermRelax }, 0 },
{ "I_RELAX TYPE", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_iterm_relax_type, ITERM_RELAX_TYPE_COUNT - 1, lookupTableItermRelaxType }, 0 },
{ "I_RELAX CUTOFF", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_iterm_relax_cutoff, 1, 100, 1 }, 0 },
{ "I_RELAX CUTOFF", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_iterm_relax_cutoff, 1, 50, 1 }, 0 },
#endif
#ifdef USE_LAUNCH_CONTROL
{"LAUNCH CONTROL", OME_Submenu, cmsMenuChange, &cmsx_menuLaunchControl, 0 },

3
src/main/flight/pid.c
View File

@ -665,8 +665,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
itermRelax = pidProfile->iterm_relax;
itermRelaxType = pidProfile->iterm_relax_type;
itermRelaxCutoff = pidProfile->iterm_relax_cutoff;
// adapt setpoint threshold to user changes from default cutoff value
itermRelaxSetpointThreshold = ITERM_RELAX_SETPOINT_THRESHOLD * ITERM_RELAX_CUTOFF_DEFAULT / itermRelaxCutoff;
itermRelaxSetpointThreshold = ITERM_RELAX_SETPOINT_THRESHOLD;
#endif
#ifdef USE_ACRO_TRAINER