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

Merge pull request #11038 from ctzsnooze/include-lpf1_static-in-simplified-tuning

This commit is contained in:
Michael Keller 2021-10-25 16:29:50 +13:00 committed by GitHub
parent 11f4fc7aef e702443730
commit c49f42939c
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 14 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

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

@ -67,6 +67,7 @@ static void calculateNewDTermFilterValues(pidProfile_t *pidProfile)
{
pidProfile->dterm_lpf1_dyn_min_hz = constrain(DTERM_LPF1_DYN_MIN_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
pidProfile->dterm_lpf1_dyn_max_hz = constrain(DTERM_LPF1_DYN_MAX_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
pidProfile->dterm_lpf1_static_hz = constrain(DTERM_LPF1_DYN_MIN_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
pidProfile->dterm_lpf2_static_hz = constrain(DTERM_LPF2_HZ_DEFAULT * pidProfile->simplified_dterm_filter_multiplier / 100, 0, LPF_MAX_HZ);
pidProfile->dterm_lpf1_type = FILTER_PT1;
pidProfile->dterm_lpf2_type = FILTER_PT1;
@ -76,6 +77,7 @@ static void calculateNewGyroFilterValues()
{
gyroConfigMutable()->gyro_lpf1_dyn_min_hz = constrain(GYRO_LPF1_DYN_MIN_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
gyroConfigMutable()->gyro_lpf1_dyn_max_hz = constrain(GYRO_LPF1_DYN_MAX_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
gyroConfigMutable()->gyro_lpf1_static_hz = constrain(GYRO_LPF1_DYN_MIN_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, DYN_LPF_MAX_HZ);
gyroConfigMutable()->gyro_lpf2_static_hz = constrain(GYRO_LPF2_HZ_DEFAULT * gyroConfig()->simplified_gyro_filter_multiplier / 100, 0, LPF_MAX_HZ);
gyroConfigMutable()->gyro_lpf1_type = FILTER_PT1;
gyroConfigMutable()->gyro_lpf2_type = FILTER_PT1;

11
src/main/flight/pid.c
View File

@ -173,10 +173,11 @@ void resetPidProfile(pidProfile_t *pidProfile)
.abs_control_error_limit = 20,
.abs_control_cutoff = 11,
.antiGravityMode = ANTI_GRAVITY_SMOOTH,
.dterm_lpf1_static_hz = 150, // 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.
.dterm_lpf1_static_hz = DTERM_LPF1_DYN_MIN_HZ_DEFAULT,
// 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.
.dterm_lpf2_static_hz = DTERM_LPF2_HZ_DEFAULT, // second Dterm LPF ON by default
.dterm_lpf1_type = FILTER_PT1,
.dterm_lpf2_type = FILTER_PT1,
@ -222,10 +223,12 @@ void resetPidProfile(pidProfile_t *pidProfile)
.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

9
src/main/sensors/gyro.c
View File

@ -110,10 +110,11 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
gyroConfig->gyroMovementCalibrationThreshold = 48;
gyroConfig->gyro_hardware_lpf = GYRO_HARDWARE_LPF_NORMAL;
gyroConfig->gyro_lpf1_type = FILTER_PT1;
gyroConfig->gyro_lpf1_static_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.
gyroConfig->gyro_lpf1_static_hz = GYRO_LPF1_DYN_MIN_HZ_DEFAULT;
// 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.
gyroConfig->gyro_lpf2_type = FILTER_PT1;
gyroConfig->gyro_lpf2_static_hz = GYRO_LPF2_HZ_DEFAULT;
gyroConfig->gyro_high_fsr = false;