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Add in-flight adjustments support for feedforward terms 

Renamed/repurposed the "D Setpoint" adjustment to be "Pitch & Roll F Adjustment" and have it simultaneously adjust pitch and roll.

Renamed the "D Setpoint Transition" adjustment to be "Feedforward Transition" - no functionality changes.

Added adjustments for the individual Pitch, Roll and Yaw axes.
This commit is contained in:
Bruce Luckcuck 2018-07-14 20:22:35 -04:00
parent 17e76e48f6
commit a1d3a0dba8
2 changed files with 67 additions and 17 deletions
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77
src/main/fc/rc_adjustments.c
View File

@ -203,11 +203,11 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
.mode = ADJUSTMENT_MODE_STEP,
.data = { .step = 1 }
}, {
.adjustmentFunction = ADJUSTMENT_D_SETPOINT,
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_F,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .step = 1 }
}, {
.adjustmentFunction = ADJUSTMENT_D_SETPOINT_TRANSITION,
.adjustmentFunction = ADJUSTMENT_FEEDFORWARD_TRANSITION,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .step = 1 }
}, {
@ -218,6 +218,18 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
.adjustmentFunction = ADJUSTMENT_PID_AUDIO,
.mode = ADJUSTMENT_MODE_SELECT,
.data = { .switchPositions = ARRAYLEN(pidAudioPositionToModeMap) }
}, {
.adjustmentFunction = ADJUSTMENT_PITCH_F,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .step = 1 }
}, {
.adjustmentFunction = ADJUSTMENT_ROLL_F,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .step = 1 }
}, {
.adjustmentFunction = ADJUSTMENT_YAW_F,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .step = 1 }
}
};
@ -244,14 +256,17 @@ static const char * const adjustmentLabels[] = {
"ROLL I",
"ROLL D",
"RC RATE YAW",
"D SETPOINT",
"D SETPOINT TRANSITION",
"PITCH/ROLL F",
"FF TRANSITION",
"HORIZON STRENGTH",
"ROLL RC RATE",
"PITCH RC RATE",
"ROLL RC EXPO",
"PITCH RC EXPO",
"PID AUDIO",
"PITCH F",
"ROLL F",
"YAW F"
};
static int adjustmentRangeNameIndex = 0;
@ -405,15 +420,31 @@ static int applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t a
controlRateConfig->rcRates[FD_YAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
break;
case ADJUSTMENT_D_SETPOINT:
newValue = constrain((int)pidProfile->pid[PID_ROLL].F + delta, 0, 2000); // FIXME magic numbers repeated in cli.c
case ADJUSTMENT_PITCH_ROLL_F:
case ADJUSTMENT_PITCH_F:
newValue = constrain(pidProfile->pid[PID_PITCH].F + delta, 0, 2000);
pidProfile->pid[PID_PITCH].F = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_F, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_F) {
break;
}
// fall through for combined ADJUSTMENT_PITCH_ROLL_F
FALLTHROUGH;
case ADJUSTMENT_ROLL_F:
newValue = constrain(pidProfile->pid[PID_ROLL].F + delta, 0, 2000);
pidProfile->pid[PID_ROLL].F = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_F, newValue);
break;
case ADJUSTMENT_D_SETPOINT_TRANSITION:
newValue = constrain((int)pidProfile->feedForwardTransition + delta, 1, 100); // FIXME magic numbers repeated in cli.c
case ADJUSTMENT_YAW_F:
newValue = constrain(pidProfile->pid[PID_YAW].F + delta, 0, 2000);
pidProfile->pid[PID_YAW].F = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_F, newValue);
break;
case ADJUSTMENT_FEEDFORWARD_TRANSITION:
newValue = constrain(pidProfile->feedForwardTransition + delta, 1, 100); // FIXME magic numbers repeated in cli.c
pidProfile->feedForwardTransition = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT_TRANSITION, newValue);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_FEEDFORWARD_TRANSITION, newValue);
break;
default:
newValue = -1;
@ -554,15 +585,31 @@ static int applyAbsoluteAdjustment(controlRateConfig_t *controlRateConfig, adjus
controlRateConfig->rcRates[FD_YAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
break;
case ADJUSTMENT_D_SETPOINT:
newValue = constrain(value, 0, 2000); // FIXME magic numbers repeated in cli.c
case ADJUSTMENT_PITCH_ROLL_F:
case ADJUSTMENT_PITCH_F:
newValue = constrain(value, 0, 2000);
pidProfile->pid[PID_PITCH].F = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_F, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_F) {
break;
}
// fall through for combined ADJUSTMENT_PITCH_ROLL_F
FALLTHROUGH;
case ADJUSTMENT_ROLL_F:
newValue = constrain(value, 0, 2000);
pidProfile->pid[PID_ROLL].F = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_F, newValue);
break;
case ADJUSTMENT_D_SETPOINT_TRANSITION:
case ADJUSTMENT_YAW_F:
newValue = constrain(value, 0, 2000);
pidProfile->pid[PID_YAW].F = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_F, newValue);
break;
case ADJUSTMENT_FEEDFORWARD_TRANSITION:
newValue = constrain(value, 1, 100); // FIXME magic numbers repeated in cli.c
pidProfile->feedForwardTransition = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT_TRANSITION, newValue);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_FEEDFORWARD_TRANSITION, newValue);
break;
default:
newValue = -1;

7
src/main/fc/rc_adjustments.h
View File

@ -47,14 +47,17 @@ typedef enum {
ADJUSTMENT_ROLL_I,
ADJUSTMENT_ROLL_D,
ADJUSTMENT_RC_RATE_YAW,
ADJUSTMENT_D_SETPOINT,
ADJUSTMENT_D_SETPOINT_TRANSITION,
ADJUSTMENT_PITCH_ROLL_F,
ADJUSTMENT_FEEDFORWARD_TRANSITION,
ADJUSTMENT_HORIZON_STRENGTH,
ADJUSTMENT_ROLL_RC_RATE,
ADJUSTMENT_PITCH_RC_RATE,
ADJUSTMENT_ROLL_RC_EXPO,
ADJUSTMENT_PITCH_RC_EXPO,
ADJUSTMENT_PID_AUDIO,
ADJUSTMENT_PITCH_F,
ADJUSTMENT_ROLL_F,
ADJUSTMENT_YAW_F,
ADJUSTMENT_FUNCTION_COUNT
} adjustmentFunction_e;