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Merge pull request #3500 from basdelfos/bfc_change_dterm_filter 

Added dterm filter type and anti-gravity settings to MSP
This commit is contained in:
borisbstyle 2017-07-13 08:19:02 +02:00 committed by GitHub
parent 5db2755b49 4195823b72
commit 98cac372fc
2 changed files with 11 additions and 1 deletions
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10
src/main/fc/fc_msp.c
View File

@ -1345,6 +1345,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU16(dst, currentPidProfile->dterm_notch_cutoff);
sbufWriteU16(dst, gyroConfig()->gyro_soft_notch_hz_2);
sbufWriteU16(dst, gyroConfig()->gyro_soft_notch_cutoff_2);
sbufWriteU8(dst, currentPidProfile->dterm_filter_type);
break;
case MSP_PID_ADVANCED:
@ -1362,6 +1363,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU16(dst, currentPidProfile->yawRateAccelLimit);
sbufWriteU8(dst, currentPidProfile->levelAngleLimit);
sbufWriteU8(dst, currentPidProfile->levelSensitivity);
sbufWriteU16(dst, currentPidProfile->itermThrottleThreshold);
sbufWriteU16(dst, currentPidProfile->itermAcceleratorGain);
break;
case MSP_SENSOR_CONFIG:
@ -1745,6 +1748,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
gyroConfigMutable()->gyro_soft_notch_hz_2 = sbufReadU16(src);
gyroConfigMutable()->gyro_soft_notch_cutoff_2 = sbufReadU16(src);
}
if (dataSize > 17) {
currentPidProfile->dterm_filter_type = sbufReadU8(src);
}
// reinitialize the gyro filters with the new values
validateAndFixGyroConfig();
gyroInitFilters();
@ -1769,6 +1775,10 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
currentPidProfile->levelAngleLimit = sbufReadU8(src);
currentPidProfile->levelSensitivity = sbufReadU8(src);
}
if (dataSize > 19) {
currentPidProfile->itermThrottleThreshold = sbufReadU16(src);
currentPidProfile->itermAcceleratorGain = sbufReadU16(src);
}
pidInitConfig(currentPidProfile);
break;

2
src/main/fc/settings.c
View File

@ -545,7 +545,7 @@ const clivalue_t valueTable[] = {
{ "vbat_pid_gain", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, vbatPidCompensation) },
{ "pid_at_min_throttle", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, pidAtMinThrottle) },
{ "anti_gravity_threshold", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 20, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermThrottleThreshold) },
{ "anti_gravity_gain", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 1, 30000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermAcceleratorGain) },
{ "anti_gravity_gain", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 1000, 30000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermAcceleratorGain) },
{ "setpoint_relax_ratio", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, setpointRelaxRatio) },
{ "dterm_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 254 }, PG_PID_PROFILE, offsetof(pidProfile_t, dtermSetpointWeight) },
{ "acc_limit_yaw", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 1, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yawRateAccelLimit) },