rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #10919 from ctzsnooze/New-PID-sliders

This commit is contained in:
Michael Keller 2021-09-27 01:00:37 +13:00 committed by GitHub
parent 2d1fae916f 90a2057179
commit 3c5275190a
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
10 changed files with 82 additions and 66 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
src/main/cli/settings.c
View File

@ -1170,15 +1170,16 @@ const clivalue_t valueTable[] = {
#ifdef USE_SIMPLIFIED_TUNING
{ "simplified_pids_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_SIMPLIFIED_TUNING_PIDS_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_pids_mode) },
{ "simplified_master_multiplier", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_master_multiplier) },
{ "simplified_roll_pitch_ratio", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_roll_pitch_ratio) },
{ "simplified_i_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_i_gain) },
{ "simplified_pd_ratio", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_pd_ratio) },
{ "simplified_pd_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_pd_gain) },
{ "simplified_dmin_ratio", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_dmin_ratio) },
{ "simplified_feedforward_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_feedforward_gain) },
{ "simplified_d_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_d_gain) },
{ "simplified_pi_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_pi_gain) },
{ "simplified_dmax_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_dmin_ratio) },
{ "simplified_feedforward_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_feedforward_gain) },
{ "simplified_pitch_d_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_roll_pitch_ratio) },
{ "simplified_pitch_pi_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_pitch_pi_gain) },
{ "simplified_dterm_filter", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_dterm_filter) },
{ "simplified_dterm_filter_multiplier", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_dterm_filter_multiplier) },
{ "simplified_dterm_filter_multiplier", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_DTERM_MIN, SIMPLIFIED_TUNING_DTERM_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, simplified_dterm_filter_multiplier) },
{ "simplified_gyro_filter", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, simplified_gyro_filter) },
{ "simplified_gyro_filter_multiplier", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, simplified_gyro_filter_multiplier) },

42
src/main/cms/cms_menu_imu.c
View File

@ -234,12 +234,13 @@ static uint8_t cmsx_simplified_pids_mode;
static uint8_t cmsx_simplified_master_multiplier;
static uint8_t cmsx_simplified_roll_pitch_ratio;
static uint8_t cmsx_simplified_i_gain;
static uint8_t cmsx_simplified_pd_ratio;
static uint8_t cmsx_simplified_pd_gain;
static uint8_t cmsx_simplified_d_gain;
static uint8_t cmsx_simplified_pi_gain;
#ifdef USE_D_MIN
static uint8_t cmsx_simplified_dmin_ratio;
#endif
static uint8_t cmsx_simplified_feedforward_gain;
static uint8_t cmsx_simplified_pitch_pi_gain;
static uint8_t cmsx_simplified_dterm_filter;
static uint8_t cmsx_simplified_dterm_filter_multiplier;
@ -256,12 +257,13 @@ static const void *cmsx_simplifiedTuningOnEnter(displayPort_t *pDisp)
cmsx_simplified_master_multiplier = pidProfile->simplified_master_multiplier;
cmsx_simplified_roll_pitch_ratio = pidProfile->simplified_roll_pitch_ratio;
cmsx_simplified_i_gain = pidProfile->simplified_i_gain;
cmsx_simplified_pd_ratio = pidProfile->simplified_pd_ratio;
cmsx_simplified_pd_gain = pidProfile->simplified_pd_gain;
cmsx_simplified_d_gain = pidProfile->simplified_d_gain;
cmsx_simplified_pi_gain = pidProfile->simplified_pi_gain;
#ifdef USE_D_MIN
cmsx_simplified_dmin_ratio = pidProfile->simplified_dmin_ratio;
#endif
cmsx_simplified_feedforward_gain = pidProfile->simplified_feedforward_gain;
cmsx_simplified_pitch_pi_gain = pidProfile->simplified_pitch_pi_gain;
cmsx_simplified_dterm_filter = pidProfile->simplified_dterm_filter;
cmsx_simplified_dterm_filter_multiplier = pidProfile->simplified_dterm_filter_multiplier;
@ -282,12 +284,13 @@ static const void *cmsx_simplifiedTuningOnExit(displayPort_t *pDisp, const OSD_E
pidProfile->simplified_master_multiplier = cmsx_simplified_master_multiplier;
pidProfile->simplified_roll_pitch_ratio = cmsx_simplified_roll_pitch_ratio;
pidProfile->simplified_i_gain = cmsx_simplified_i_gain;
pidProfile->simplified_pd_ratio = cmsx_simplified_pd_ratio;
pidProfile->simplified_pd_gain = cmsx_simplified_pd_gain;
pidProfile->simplified_d_gain = cmsx_simplified_d_gain;
pidProfile->simplified_pi_gain = cmsx_simplified_pi_gain;
#ifdef USE_D_MIN
pidProfile->simplified_dmin_ratio = cmsx_simplified_dmin_ratio;
#endif
pidProfile->simplified_feedforward_gain = cmsx_simplified_feedforward_gain;
pidProfile->simplified_pitch_pi_gain = cmsx_simplified_pitch_pi_gain;
pidProfile->simplified_dterm_filter = cmsx_simplified_dterm_filter;
pidProfile->simplified_dterm_filter_multiplier = cmsx_simplified_dterm_filter_multiplier;
@ -303,17 +306,17 @@ static const void *cmsx_applySimplifiedTuning(displayPort_t *pDisp, const void *
UNUSED(self);
pidProfile_t *pidProfile = currentPidProfile;
pidProfile->simplified_pids_mode = cmsx_simplified_pids_mode;
pidProfile->simplified_master_multiplier = cmsx_simplified_master_multiplier;
pidProfile->simplified_pids_mode = cmsx_simplified_pids_mode;
pidProfile->simplified_roll_pitch_ratio = cmsx_simplified_roll_pitch_ratio;
pidProfile->simplified_i_gain = cmsx_simplified_i_gain;
pidProfile->simplified_pd_ratio = cmsx_simplified_pd_ratio;
pidProfile->simplified_pd_gain = cmsx_simplified_pd_gain;
pidProfile->simplified_d_gain = cmsx_simplified_d_gain;
pidProfile->simplified_pi_gain = cmsx_simplified_pi_gain;
#ifdef USE_D_MIN
pidProfile->simplified_dmin_ratio = cmsx_simplified_dmin_ratio;
#endif
pidProfile->simplified_feedforward_gain = cmsx_simplified_feedforward_gain;
pidProfile->simplified_pitch_pi_gain = cmsx_simplified_pitch_pi_gain;
pidProfile->simplified_dterm_filter = cmsx_simplified_dterm_filter;
pidProfile->simplified_dterm_filter_multiplier = cmsx_simplified_dterm_filter_multiplier;
@ -330,15 +333,20 @@ static const OSD_Entry cmsx_menuSimplifiedTuningEntries[] =
{ "-- SIMPLIFIED PID --", OME_Label, NULL, NULL, 0},
{ "PID TUNING", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_simplified_pids_mode, PID_SIMPLIFIED_TUNING_MODE_COUNT - 1, lookupTableSimplifiedTuningPidsMode }, 0 },
{ "MASTER MULT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_master_multiplier, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "R/P RATIO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_roll_pitch_ratio, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "I GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_i_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "PD RATIO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_pd_ratio, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "PD GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_pd_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
#ifdef USE_D_MIN
{ "DMIN RATIO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_dmin_ratio, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
#endif
{ "-- BASIC --", OME_Label, NULL, NULL, 0},
{ "PI GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_pi_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "D GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_d_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "FF GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_feedforward_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "-- EXPERT --", OME_Label, NULL, NULL, 0},
{ "I GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_i_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
#ifdef USE_D_MIN
{ "D_MAX GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_dmin_ratio, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
#endif
{ "PITCH D GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_roll_pitch_ratio, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "PITCH PI GAIN", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_pitch_pi_gain, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },
{ "-- SIMPLIFIED FILTER --", OME_Label, NULL, NULL, 0},
{ "GYRO TUNING", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_simplified_gyro_filter, 1, lookupTableOffOn }, 0 },
{ "GYRO MULT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_simplified_gyro_filter_multiplier, SIMPLIFIED_TUNING_MIN, SIMPLIFIED_TUNING_MAX, 5, 10 }, 0 },

2
src/main/config/config.c
View File

@ -272,7 +272,7 @@ static void validateAndFixConfig(void)
// If the d_min value for any axis is >= the D gain then reset d_min to 0 for consistent Configurator behavior
for (unsigned axis = 0; axis <= FD_YAW; axis++) {
if (pidProfilesMutable(i)->d_min[axis] >= pidProfilesMutable(i)->pid[axis].D) {
if (pidProfilesMutable(i)->d_min[axis] > pidProfilesMutable(i)->pid[axis].D) {
pidProfilesMutable(i)->d_min[axis] = 0;
}
}

28
src/main/config/simplified_tuning.c
View File

@ -41,29 +41,25 @@ static void calculateNewPidValues(pidProfile_t *pidProfile)
#ifdef USE_D_MIN
const int dMinDefaults[FLIGHT_DYNAMICS_INDEX_COUNT] = D_MIN_DEFAULT;
#endif
const float masterMultiplier = pidProfile->simplified_master_multiplier / 100.0f;
const float piGain = pidProfile->simplified_pi_gain / 100.0f;
const float dGain = pidProfile->simplified_d_gain / 100.0f;
const float feedforwardGain = pidProfile->simplified_feedforward_gain / 100.0f;
const float pdGain = pidProfile->simplified_pd_gain / 100.0f;
const float iGain = pidProfile->simplified_i_gain / 100.0f;
const float pdRatio = pidProfile->simplified_pd_ratio / 100.0f;
for (int axis = FD_ROLL; axis <= pidProfile->simplified_pids_mode; ++axis) {
const float rpRatio = (axis == FD_PITCH) ? pidProfile->simplified_roll_pitch_ratio / 100.0f : 1.0f;
pidProfile->pid[axis].P = constrain(pidDefaults[axis].P * masterMultiplier * pdGain * pdRatio * rpRatio, 0, PID_GAIN_MAX);
pidProfile->pid[axis].I = constrain(pidDefaults[axis].I * masterMultiplier * iGain * rpRatio, 0, PID_GAIN_MAX);
pidProfile->pid[axis].D = constrain(pidDefaults[axis].D * masterMultiplier * pdGain * rpRatio, 0, PID_GAIN_MAX);
const float pitchDGain = (axis == FD_PITCH) ? pidProfile->simplified_roll_pitch_ratio / 100.0f : 1.0f;
const float pitchPiGain = (axis == FD_PITCH) ? pidProfile->simplified_pitch_pi_gain / 100.0f : 1.0f;
pidProfile->pid[axis].P = constrain(pidDefaults[axis].P * masterMultiplier * piGain * pitchPiGain, 0, PID_GAIN_MAX);
pidProfile->pid[axis].I = constrain(pidDefaults[axis].I * masterMultiplier * piGain * iGain * pitchPiGain, 0, PID_GAIN_MAX);
#ifdef USE_D_MIN
const float dminRatio = 1.0f + (((float)pidDefaults[axis].D / dMinDefaults[axis] - 1.0f) * (pidProfile->simplified_dmin_ratio / 100.0f - 1.0f));
if (pidProfile->simplified_dmin_ratio == SIMPLIFIED_TUNING_MAX) {
pidProfile->d_min[axis] = 0;
} else {
pidProfile->d_min[axis] = constrain(dMinDefaults[axis] * masterMultiplier * pdGain * rpRatio * dminRatio, 0, D_MIN_GAIN_MAX);
}
const float dminRatio = (dMinDefaults[axis] > 0) ? 1.0f + (((float)pidDefaults[axis].D - dMinDefaults[axis]) / dMinDefaults[axis]) * (pidProfile->simplified_dmin_ratio / 100.0f) : 1.0f;
pidProfile->pid[axis].D = constrain(dMinDefaults[axis] * masterMultiplier * dGain * pitchDGain * dminRatio, 0, PID_GAIN_MAX);
pidProfile->d_min[axis] = constrain(dMinDefaults[axis] * masterMultiplier * dGain * pitchDGain, 0, PID_GAIN_MAX);
#else
pidProfile->pid[axis].D = constrain(dMinDefaults[axis] * masterMultiplier * dGain * pitchDGain, 0, PID_GAIN_MAX);
#endif
pidProfile->pid[axis].F = constrain(pidDefaults[axis].F * masterMultiplier * feedforwardGain * rpRatio, 0, F_GAIN_MAX);
pidProfile->pid[axis].F = constrain(pidDefaults[axis].F * masterMultiplier * pitchPiGain * feedforwardGain, 0, F_GAIN_MAX);
}
}

5
src/main/config/simplified_tuning.h
View File

@ -24,7 +24,12 @@
#define SIMPLIFIED_TUNING_MIN 50
#define SIMPLIFIED_TUNING_MAX 200
#define SIMPLIFIED_TUNING_DTERM_MIN 80
#define SIMPLIFIED_TUNING_DTERM_MAX 120
#define SIMPLIFIED_TUNING_DEFAULT 100
#define SIMPLIFIED_TUNING_PITCH_P_DEFAULT 105
#define SIMPLIFIED_TUNING_PITCH_D_DEFAULT 115
#define SIMPLIFIED_TUNING_D_DEFAULT 100
typedef enum {
PID_SIMPLIFIED_TUNING_OFF = 0,

18
src/main/flight/pid.c
View File

@ -121,7 +121,7 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
#define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 2);
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 3);
void resetPidProfile(pidProfile_t *pidProfile)
{
@ -210,21 +210,25 @@ void resetPidProfile(pidProfile_t *pidProfile)
.dyn_lpf_curve_expo = 5,
.level_race_mode = false,
.vbat_sag_compensation = 0,
.simplified_pids_mode = PID_SIMPLIFIED_TUNING_OFF,
.simplified_pids_mode = PID_SIMPLIFIED_TUNING_RPY,
.simplified_master_multiplier = SIMPLIFIED_TUNING_DEFAULT,
.simplified_roll_pitch_ratio = SIMPLIFIED_TUNING_DEFAULT,
.simplified_roll_pitch_ratio = SIMPLIFIED_TUNING_PITCH_D_DEFAULT,
.simplified_i_gain = SIMPLIFIED_TUNING_DEFAULT,
.simplified_pd_ratio = SIMPLIFIED_TUNING_DEFAULT,
.simplified_pd_gain = SIMPLIFIED_TUNING_DEFAULT,
.simplified_dmin_ratio = SIMPLIFIED_TUNING_DEFAULT,
.simplified_d_gain = SIMPLIFIED_TUNING_D_DEFAULT,
.simplified_pi_gain = SIMPLIFIED_TUNING_DEFAULT,
.simplified_dmin_ratio = SIMPLIFIED_TUNING_D_DEFAULT,
.simplified_feedforward_gain = SIMPLIFIED_TUNING_DEFAULT,
.simplified_dterm_filter = false,
.simplified_pitch_pi_gain = SIMPLIFIED_TUNING_PITCH_P_DEFAULT,
.simplified_dterm_filter = true,
.simplified_dterm_filter_multiplier = SIMPLIFIED_TUNING_DEFAULT,
);
#ifndef USE_D_MIN
pidProfile->pid[PID_ROLL].D = 30;
pidProfile->pid[PID_PITCH].D = 32;
#endif
#ifdef USE_SIMPLIFIED_TUNING
applySimplifiedTuning(pidProfile);
#endif
}
void pgResetFn_pidProfiles(pidProfile_t *pidProfiles)

22
src/main/flight/pid.h
View File

@ -36,9 +36,9 @@
#define PIDSUM_LIMIT_MIN 100
#define PIDSUM_LIMIT_MAX 1000
#define PID_GAIN_MAX 200
#define PID_GAIN_MAX 250
#define F_GAIN_MAX 2000
#define D_MIN_GAIN_MAX 100
#define D_MIN_GAIN_MAX 250
// Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float
#define PTERM_SCALE 0.032029f
@ -58,13 +58,13 @@
#define ITERM_ACCELERATOR_GAIN_OFF 0
#define ITERM_ACCELERATOR_GAIN_MAX 30000
#define PID_ROLL_DEFAULT { 42, 85, 35, 90 }
#define PID_PITCH_DEFAULT { 46, 90, 38, 95 }
#define PID_YAW_DEFAULT { 45, 90, 0, 90 }
#define D_MIN_DEFAULT { 23, 25, 0 }
#define PID_ROLL_DEFAULT { 45, 80, 40, 120 }
#define PID_PITCH_DEFAULT { 45, 80, 40, 120 }
#define PID_YAW_DEFAULT { 45, 80, 0, 120 }
#define D_MIN_DEFAULT { 30, 30, 0 }
#define DYN_LPF_DTERM_MIN_HZ_DEFAULT 70
#define DYN_LPF_DTERM_MAX_HZ_DEFAULT 170
#define DYN_LPF_DTERM_MIN_HZ_DEFAULT 75
#define DYN_LPF_DTERM_MAX_HZ_DEFAULT 150
#define DTERM_LOWPASS_2_HZ_DEFAULT 150
typedef enum {
@ -219,13 +219,13 @@ typedef struct pidProfile_s {
uint8_t simplified_master_multiplier;
uint8_t simplified_roll_pitch_ratio;
uint8_t simplified_i_gain;
uint8_t simplified_pd_ratio;
uint8_t simplified_pd_gain;
uint8_t simplified_d_gain;
uint8_t simplified_pi_gain;
uint8_t simplified_dmin_ratio;
uint8_t simplified_feedforward_gain;
uint8_t simplified_dterm_filter;
uint8_t simplified_dterm_filter_multiplier;
uint8_t simplified_pitch_pi_gain;
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);

10
src/main/msp/msp.c
View File

@ -2149,14 +2149,15 @@ static mspResult_e mspFcProcessOutCommandWithArg(mspDescriptor_t srcDesc, int16_
sbufWriteU8(dst, currentPidProfile->simplified_master_multiplier);
sbufWriteU8(dst, currentPidProfile->simplified_roll_pitch_ratio);
sbufWriteU8(dst, currentPidProfile->simplified_i_gain);
sbufWriteU8(dst, currentPidProfile->simplified_pd_ratio);
sbufWriteU8(dst, currentPidProfile->simplified_pd_gain);
sbufWriteU8(dst, currentPidProfile->simplified_d_gain);
sbufWriteU8(dst, currentPidProfile->simplified_pi_gain);
#ifdef USE_D_MIN
sbufWriteU8(dst, currentPidProfile->simplified_dmin_ratio);
#else
sbufWriteU8(dst, 0);
#endif
sbufWriteU8(dst, currentPidProfile->simplified_feedforward_gain);
sbufWriteU8(dst, currentPidProfile->simplified_pitch_pi_gain);
sbufWriteU8(dst, currentPidProfile->simplified_dterm_filter);
sbufWriteU8(dst, currentPidProfile->simplified_dterm_filter_multiplier);
@ -3132,14 +3133,15 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
currentPidProfile->simplified_master_multiplier = sbufReadU8(src);
currentPidProfile->simplified_roll_pitch_ratio = sbufReadU8(src);
currentPidProfile->simplified_i_gain = sbufReadU8(src);
currentPidProfile->simplified_pd_ratio = sbufReadU8(src);
currentPidProfile->simplified_pd_gain = sbufReadU8(src);
currentPidProfile->simplified_d_gain = sbufReadU8(src);
currentPidProfile->simplified_pi_gain = sbufReadU8(src);
#ifdef USE_D_MIN
currentPidProfile->simplified_dmin_ratio = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
currentPidProfile->simplified_feedforward_gain = sbufReadU8(src);
currentPidProfile->simplified_pitch_pi_gain = sbufReadU8(src);
currentPidProfile->simplified_dterm_filter = sbufReadU8(src);
currentPidProfile->simplified_dterm_filter_multiplier = sbufReadU8(src);

4
src/main/sensors/gyro.c
View File

@ -110,7 +110,7 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
gyroConfig->gyroMovementCalibrationThreshold = 48;
gyroConfig->gyro_hardware_lpf = GYRO_HARDWARE_LPF_NORMAL;
gyroConfig->gyro_lowpass_type = FILTER_PT1;
gyroConfig->gyro_lowpass_hz = 200; // NOTE: dynamic lpf is enabled by default so this setting is actually
gyroConfig->gyro_lowpass_hz = 250; // NOTE: dynamic lpf is enabled by default so this setting is actually
// overridden and the static lowpass 1 is disabled. We can't set this
// value to 0 otherwise Configurator versions 10.4 and earlier will also
// reset the lowpass filter type to PT1 overriding the desired BIQUAD setting.
@ -130,7 +130,7 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
gyroConfig->dyn_lpf_gyro_max_hz = DYN_LPF_GYRO_MAX_HZ_DEFAULT;
gyroConfig->gyro_filter_debug_axis = FD_ROLL;
gyroConfig->dyn_lpf_curve_expo = 5;
gyroConfig->simplified_gyro_filter = false;
gyroConfig->simplified_gyro_filter = true;
gyroConfig->simplified_gyro_filter_multiplier = SIMPLIFIED_TUNING_DEFAULT;
}

4
src/main/sensors/gyro.h
View File

@ -39,9 +39,9 @@
#define FILTER_FREQUENCY_MAX 1000 // so little filtering above 1000hz that if the user wants less delay, they must disable the filter
#define DYN_LPF_FILTER_FREQUENCY_MAX 1000
#define DYN_LPF_GYRO_MIN_HZ_DEFAULT 200
#define DYN_LPF_GYRO_MIN_HZ_DEFAULT 250
#define DYN_LPF_GYRO_MAX_HZ_DEFAULT 500
#define GYRO_LOWPASS_2_HZ_DEFAULT 250
#define GYRO_LOWPASS_2_HZ_DEFAULT 500
#ifdef USE_YAW_SPIN_RECOVERY
#define YAW_SPIN_RECOVERY_THRESHOLD_MIN 500