Merge remote-tracking branch 'borisbstyle/betaflight' into blackbox-enhancements
This commit is contained in:
Gary Keeble
commit
e3ea79ce97
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@ -1280,8 +1280,8 @@ static bool blackboxWriteSysinfo()
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
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break;
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case 36:
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blackboxPrintfHeaderLine("dterm_differentiator:%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_differentiator);
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blackboxPrintfHeaderLine("dynamic_pterm:%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.dynamic_pterm);
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break;
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case 37:
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blackboxPrintfHeaderLine("rollPitchItermResetRate:%d",
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@ -144,11 +144,6 @@ char *itoa(int i, char *a, int base)
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#endif
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/* Note: the floatString must be at least 13 bytes long to cover all cases.
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* This includes up to 10 digits (32 bit ints can hold numbers up to 10
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* digits long) + the decimal point + negative sign or space + null
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* terminator.
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*/
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char *ftoa(float x, char *floatString)
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{
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int32_t value;
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@ -21,17 +21,7 @@ void li2a(long num, char *bf);
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void ui2a(unsigned int num, unsigned int base, int uc, char *bf);
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void i2a(int num, char *bf);
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char a2i(char ch, const char **src, int base, int *nump);
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/* Simple conversion of a float to a string. Will display completely
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* inaccurate results for floats larger than about 2.15E6 (2^31 / 1000)
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* (same thing for negative values < -2.15E6).
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* Will always display 3 decimals, so anything smaller than 1E-3 will
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* not be displayed.
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* The floatString will be filled in with the result and will be
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* returned. It must be at least 13 bytes in length to cover all cases!
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*/
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char *ftoa(float x, char *floatString);
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float fastA2F(const char *p);
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#ifndef HAVE_ITOA_FUNCTION
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@ -134,7 +134,7 @@ static uint32_t activeFeaturesLatch = 0;
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static uint8_t currentControlRateProfileIndex = 0;
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controlRateConfig_t *currentControlRateProfile;
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static const uint8_t EEPROM_CONF_VERSION = 133;
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static const uint8_t EEPROM_CONF_VERSION = 134;
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static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
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{
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@ -148,10 +148,10 @@ static void resetPidProfile(pidProfile_t *pidProfile)
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pidProfile->pidController = 1;
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pidProfile->P8[ROLL] = 45;
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pidProfile->I8[ROLL] = 30;
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pidProfile->I8[ROLL] = 35;
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pidProfile->D8[ROLL] = 18;
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pidProfile->P8[PITCH] = 45;
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pidProfile->I8[PITCH] = 30;
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pidProfile->I8[PITCH] = 35;
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pidProfile->D8[PITCH] = 18;
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pidProfile->P8[YAW] = 90;
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pidProfile->I8[YAW] = 40;
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@ -177,12 +177,12 @@ static void resetPidProfile(pidProfile_t *pidProfile)
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pidProfile->D8[PIDVEL] = 75;
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pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
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pidProfile->yaw_lpf_hz = 70.0f;
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pidProfile->dterm_differentiator = 1;
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pidProfile->yaw_lpf_hz = 70;
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pidProfile->rollPitchItermResetRate = 200;
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pidProfile->rollPitchItermResetAlways = 0;
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pidProfile->yawItermResetRate = 50;
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pidProfile->dterm_lpf_hz = 70.0f; // filtering ON by default
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pidProfile->dterm_lpf_hz = 80; // filtering ON by default
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pidProfile->dynamic_pterm = 1;
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pidProfile->H_sensitivity = 75; // TODO - Cleanup during next EEPROM changes
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@ -308,9 +308,9 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
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controlRateConfig->rcExpo8 = 60;
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controlRateConfig->thrMid8 = 50;
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controlRateConfig->thrExpo8 = 0;
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controlRateConfig->dynThrPID = 0;
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controlRateConfig->dynThrPID = 20;
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controlRateConfig->rcYawExpo8 = 20;
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controlRateConfig->tpa_breakpoint = 1500;
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controlRateConfig->tpa_breakpoint = 1650;
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for (uint8_t axis = 0; axis < FLIGHT_DYNAMICS_INDEX_COUNT; axis++) {
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controlRateConfig->rates[axis] = 50;
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@ -402,10 +402,10 @@ static void resetConf(void)
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masterConfig.dcm_kp = 2500; // 1.0 * 10000
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masterConfig.dcm_ki = 0; // 0.003 * 10000
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masterConfig.gyro_lpf = 0; // 256HZ default
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masterConfig.gyro_sync_denom = 8;
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masterConfig.gyro_soft_lpf_hz = 80.0f;
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masterConfig.gyro_sync_denom = 4;
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masterConfig.gyro_soft_lpf_hz = 85;
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masterConfig.pid_process_denom = 1;
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masterConfig.pid_process_denom = 2;
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masterConfig.debug_mode = 0;
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@ -56,9 +56,9 @@ typedef struct master_t {
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int8_t yaw_control_direction; // change control direction of yaw (inverted, normal)
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uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
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uint8_t acc_for_fast_looptime; // shorten acc processing time by using 1 out of 9 samples. For combination with fast looptimes.
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uint8_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
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uint16_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
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uint8_t gyro_sync_denom; // Gyro sample divider
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float gyro_soft_lpf_hz; // Biqyad gyro lpf hz
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uint8_t gyro_soft_lpf_hz; // Biqyad gyro lpf hz
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uint16_t dcm_kp; // DCM filter proportional gain ( x 10000)
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uint16_t dcm_ki; // DCM filter integral gain ( x 10000)
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@ -74,7 +74,7 @@ typedef struct mixerConfig_s {
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uint16_t yaw_jump_prevention_limit; // make limit configurable (original fixed value was 100)
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#ifdef USE_SERVOS
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uint8_t tri_unarmed_servo; // send tail servo correction pulses even when unarmed
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int16_t servo_lowpass_freq; // lowpass servo filter frequency selection; 1/1000ths of loop freq
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uint16_t servo_lowpass_freq; // lowpass servo filter frequency selection; 1/1000ths of loop freq
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int8_t servo_lowpass_enable; // enable/disable lowpass filter
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#endif
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} mixerConfig_t;
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@ -93,6 +93,16 @@ float calculateExpoPlus(int axis, rxConfig_t *rxConfig) {
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return propFactor;
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}
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uint16_t getDynamicKp(int axis, pidProfile_t *pidProfile) {
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uint16_t dynamicKp;
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uint32_t dynamicFactor = constrain(ABS(rcCommand[axis] << 8) / DYNAMIC_PTERM_STICK_THRESHOLD, 0, 1 << 7);
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dynamicKp = ((pidProfile->P8[axis] << 8) + (pidProfile->P8[axis] * dynamicFactor)) >> 8;
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return dynamicKp;
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}
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void pidResetErrorAngle(void)
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{
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errorAngleI[ROLL] = 0;
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@ -136,7 +146,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
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{
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float RateError, AngleRate, gyroRate;
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float ITerm,PTerm,DTerm;
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static float lastRate[3][PID_LAST_RATE_COUNT];
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static float lastRate[3];
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float delta;
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int axis;
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float horizonLevelStrength = 1;
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@ -200,11 +210,13 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
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// multiplication of rcCommand corresponds to changing the sticks scaling here
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RateError = AngleRate - gyroRate;
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uint16_t kP = (pidProfile->dynamic_pterm) ? getDynamicKp(axis, pidProfile) : pidProfile->P8[axis];
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// -----calculate P component
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if ((IS_RC_MODE_ACTIVE(BOXSUPEREXPO) && axis != YAW) || (axis == YAW && rxConfig->superExpoYawMode == SUPEREXPO_YAW_ALWAYS)) {
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PTerm = (luxPTermScale * pidProfile->P8[axis] * tpaFactor) * (AngleRate - gyroRate * calculateExpoPlus(axis, rxConfig));
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PTerm = (luxPTermScale * kP * tpaFactor) * (AngleRate - gyroRate * calculateExpoPlus(axis, rxConfig));
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} else {
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PTerm = luxPTermScale * RateError * pidProfile->P8[axis] * tpaFactor;
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PTerm = luxPTermScale * RateError * kP * tpaFactor;
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}
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// Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
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@ -220,7 +232,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
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}
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if (axis == YAW) {
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if (ABS(gyroRate / 4.1f) >= pidProfile->yawItermResetRate) errorGyroIf[axis] = constrainf(errorGyroIf[axis], -ITERM_RESET_THRESHOLD_YAW, ITERM_RESET_THRESHOLD_YAW);
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if (ABS(gyroRate / 4.1f) >= pidProfile->yawItermResetRate) errorGyroIf[axis] = constrainf(errorGyroIf[axis], -ITERM_RESET_THRESHOLD, ITERM_RESET_THRESHOLD);
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}
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if (antiWindupProtection || motorLimitReached) {
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@ -238,20 +250,8 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
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if (pidProfile->yaw_lpf_hz) PTerm = filterApplyPt1(PTerm, &yawFilterState, pidProfile->yaw_lpf_hz, getdT());
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DTerm = 0;
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} else {
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if (pidProfile->dterm_differentiator) {
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// Calculate derivative using noise-robust differentiator without time delay (one-sided or forward filters)
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// by Pavel Holoborodko, see http://www.holoborodko.com/pavel/numerical-methods/numerical-derivative/smooth-low-noise-differentiators/
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// N=5: h[0] = 3/8, h[-1] = 1/2, h[-2] = -1/2, h[-3] = -3/4, h[-4] = 1/8, h[-5] = 1/4
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delta = -(3*gyroRate + 4*lastRate[axis][0] - 4*lastRate[axis][1] - 6*lastRate[axis][2] + 1*lastRate[axis][3] + 2*lastRate[axis][4]) / 8;
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for (int i = PID_LAST_RATE_COUNT - 1; i > 0; i--) {
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lastRate[axis][i] = lastRate[axis][i-1];
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}
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} else {
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// When DTerm low pass filter disabled apply moving average to reduce noise
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delta = -(gyroRate - lastRate[axis][0]);
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}
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lastRate[axis][0] = gyroRate;
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delta = -(gyroRate - lastRate[axis]);
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lastRate[axis] = gyroRate;
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// Divide delta by targetLooptime to get differential (ie dr/dt)
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delta *= (1.0f / getdT());
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@ -288,7 +288,7 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
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int axis;
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int32_t PTerm, ITerm, DTerm, delta;
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static int32_t lastRate[3][PID_LAST_RATE_COUNT];
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static int32_t lastRate[3];
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int32_t AngleRateTmp, RateError, gyroRate;
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int8_t horizonLevelStrength = 100;
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@ -342,11 +342,13 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
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gyroRate = gyroADC[axis] / 4;
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RateError = AngleRateTmp - gyroRate;
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|
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uint16_t kP = (pidProfile->dynamic_pterm) ? getDynamicKp(axis, pidProfile) : pidProfile->P8[axis];
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// -----calculate P component
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if ((IS_RC_MODE_ACTIVE(BOXSUPEREXPO) && axis != YAW) || (axis == YAW && rxConfig->superExpoYawMode == SUPEREXPO_YAW_ALWAYS)) {
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PTerm = (pidProfile->P8[axis] * PIDweight[axis] / 100) * (AngleRateTmp - (int32_t)(gyroRate * calculateExpoPlus(axis, rxConfig))) >> 7;
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PTerm = (kP * PIDweight[axis] / 100) * (AngleRateTmp - (int32_t)(gyroRate * calculateExpoPlus(axis, rxConfig))) >> 7;
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} else {
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PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
|
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PTerm = (RateError * kP * PIDweight[axis] / 100) >> 7;
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||||
}
|
||||
|
||||
// Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
|
||||
|
|
@ -366,11 +368,11 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
|
|||
errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
|
||||
|
||||
if ((pidProfile->rollPitchItermResetAlways || IS_RC_MODE_ACTIVE(BOXSUPEREXPO)) && axis != YAW) {
|
||||
if (ABS(gyroRate *10 / 41) >= pidProfile->rollPitchItermResetRate) errorGyroI[axis] = constrain(errorGyroI[axis], -ITERM_RESET_THRESHOLD, ITERM_RESET_THRESHOLD);
|
||||
if (ABS(gyroRate *10 / 41) >= pidProfile->rollPitchItermResetRate) errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) -ITERM_RESET_THRESHOLD << 13, (int32_t) + ITERM_RESET_THRESHOLD << 13);
|
||||
}
|
||||
|
||||
if (axis == YAW) {
|
||||
if (ABS(gyroRate * 10 / 41) >= pidProfile->yawItermResetRate) errorGyroI[axis] = constrain(errorGyroI[axis], -ITERM_RESET_THRESHOLD_YAW, ITERM_RESET_THRESHOLD_YAW);
|
||||
if (ABS(gyroRate * 10 / 41) >= pidProfile->yawItermResetRate) errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) -ITERM_RESET_THRESHOLD << 13, (int32_t) + ITERM_RESET_THRESHOLD << 13);
|
||||
}
|
||||
|
||||
if (antiWindupProtection || motorLimitReached) {
|
||||
|
|
@ -386,20 +388,8 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
|
|||
if (pidProfile->yaw_lpf_hz) PTerm = filterApplyPt1(PTerm, &yawFilterState, pidProfile->yaw_lpf_hz, getdT());
|
||||
DTerm = 0;
|
||||
} else {
|
||||
if (pidProfile->dterm_differentiator) {
|
||||
// Calculate derivative using noise-robust differentiator without time delay (one-sided or forward filters)
|
||||
// by Pavel Holoborodko, see http://www.holoborodko.com/pavel/numerical-methods/numerical-derivative/smooth-low-noise-differentiators/
|
||||
// N=5: h[0] = 3/8, h[-1] = 1/2, h[-2] = -1/2, h[-3] = -3/4, h[-4] = 1/8, h[-5] = 1/4
|
||||
delta = -(3*gyroRate + 4*lastRate[axis][0] - 4*lastRate[axis][1] - 6*lastRate[axis][2] + 1*lastRate[axis][3] + 2*lastRate[axis][4]) / 8;
|
||||
for (int i = PID_LAST_RATE_COUNT - 1; i > 0; i--) {
|
||||
lastRate[axis][i] = lastRate[axis][i-1];
|
||||
}
|
||||
} else {
|
||||
// When DTerm low pass filter disabled apply moving average to reduce noise
|
||||
delta = -(gyroRate - lastRate[axis][0]);
|
||||
}
|
||||
|
||||
lastRate[axis][0] = gyroRate;
|
||||
delta = -(gyroRate - lastRate[axis]);
|
||||
lastRate[axis] = gyroRate;
|
||||
|
||||
// Divide delta by targetLooptime to get differential (ie dr/dt)
|
||||
delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetPidLooptime >> 4))) >> 5;
|
||||
|
|
|
|||
|
|
@ -22,9 +22,8 @@
|
|||
#define YAW_P_LIMIT_MIN 100 // Maximum value for yaw P limiter
|
||||
#define YAW_P_LIMIT_MAX 400 // Maximum value for yaw P limiter
|
||||
|
||||
#define PID_LAST_RATE_COUNT 7
|
||||
#define ITERM_RESET_THRESHOLD 20
|
||||
#define ITERM_RESET_THRESHOLD_YAW 10
|
||||
#define ITERM_RESET_THRESHOLD 15
|
||||
#define DYNAMIC_PTERM_STICK_THRESHOLD 400
|
||||
|
||||
typedef enum {
|
||||
PIDROLL,
|
||||
|
|
@ -74,14 +73,14 @@ typedef struct pidProfile_s {
|
|||
|
||||
uint8_t H_sensitivity;
|
||||
|
||||
float dterm_lpf_hz; // Delta Filter in hz
|
||||
float yaw_lpf_hz; // Additional yaw filter when yaw axis too noisy
|
||||
uint16_t dterm_lpf_hz; // Delta Filter in hz
|
||||
uint16_t yaw_lpf_hz; // Additional yaw filter when yaw axis too noisy
|
||||
uint16_t rollPitchItermResetRate; // Experimental threshold for resetting iterm for pitch and roll on certain rates
|
||||
uint8_t rollPitchItermResetAlways; // Reset Iterm also without SUPER EXPO
|
||||
uint16_t yawItermResetRate; // Experimental threshold for resetting iterm for yaw on certain rates
|
||||
uint16_t yaw_p_limit;
|
||||
uint8_t dterm_average_count; // Configurable delta count for dterm
|
||||
uint8_t dterm_differentiator;
|
||||
uint8_t dynamic_pterm;
|
||||
|
||||
#ifdef GTUNE
|
||||
uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune
|
||||
|
|
|
|||
|
|
@ -653,7 +653,7 @@ const clivalue_t valueTable[] = {
|
|||
|
||||
{ "gyro_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } },
|
||||
{ "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyro_sync_denom, .config.minmax = { 1, 8 } },
|
||||
{ "gyro_lowpass_hz", VAR_FLOAT | MASTER_VALUE, &masterConfig.gyro_soft_lpf_hz, .config.minmax = { 0, 500 } },
|
||||
{ "gyro_lowpass", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyro_soft_lpf_hz, .config.minmax = { 0, 255 } },
|
||||
{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, .config.minmax = { 0, 128 } },
|
||||
{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_kp, .config.minmax = { 0, 50000 } },
|
||||
{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_ki, .config.minmax = { 0, 50000 } },
|
||||
|
|
@ -673,7 +673,7 @@ const clivalue_t valueTable[] = {
|
|||
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
|
||||
#ifdef USE_SERVOS
|
||||
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
|
||||
{ "servo_lowpass_freq", VAR_INT16 | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, .config.minmax = { 10, 400} },
|
||||
{ "servo_lowpass_freq", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, .config.minmax = { 10, 400} },
|
||||
{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } },
|
||||
#endif
|
||||
|
||||
|
|
@ -721,12 +721,12 @@ const clivalue_t valueTable[] = {
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||||
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } },
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{ "mag_declination", VAR_INT16 | MASTER_VALUE, &masterConfig.mag_declination, .config.minmax = { -18000, 18000 } },
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{ "dterm_lowpass_hz", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
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{ "dterm_differentiator", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dterm_differentiator, .config.lookup = { TABLE_OFF_ON } },
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||||
{ "iterm_always_reset", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermResetAlways, .config.lookup = { TABLE_OFF_ON } },
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||||
{ "dterm_lowpass", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
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||||
{ "dynamic_pterm", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dynamic_pterm, .config.lookup = { TABLE_OFF_ON } },
|
||||
{ "iterm_always_reset", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.rollPitchItermResetAlways, .config.lookup = { TABLE_OFF_ON } },
|
||||
{ "iterm_reset_degrees", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermResetRate, .config.minmax = {50, 1000 } },
|
||||
{ "yaw_iterm_reset_degrees", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermResetRate, .config.minmax = {25, 1000 } },
|
||||
{ "yaw_lowpass_hz", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
|
||||
{ "yaw_lowpass", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
|
||||
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.pid_process_denom, .config.minmax = { 1, 8 } },
|
||||
|
||||
{ "pid_controller", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidController, .config.lookup = { TABLE_PID_CONTROLLER } },
|
||||
|
|
@ -2448,7 +2448,7 @@ static void cliWrite(uint8_t ch)
|
|||
static void cliPrintVar(const clivalue_t *var, uint32_t full)
|
||||
{
|
||||
int32_t value = 0;
|
||||
char buf[13];
|
||||
char buf[8];
|
||||
|
||||
void *ptr = var->ptr;
|
||||
if ((var->type & VALUE_SECTION_MASK) == PROFILE_VALUE) {
|
||||
|
|
|
|||
|
|
@ -152,7 +152,7 @@ void setGyroSamplingSpeed(uint16_t looptime) {
|
|||
masterConfig.pid_process_denom = 1;
|
||||
if (currentProfile->pidProfile.pidController == 2) masterConfig.pid_process_denom = 2;
|
||||
if (looptime < 250) {
|
||||
masterConfig.pid_process_denom = 3;
|
||||
masterConfig.pid_process_denom = 4;
|
||||
} else if (looptime < 375) {
|
||||
if (currentProfile->pidProfile.pidController == 2) {
|
||||
masterConfig.pid_process_denom = 3;
|
||||
|
|
|
|||
|
|
@ -770,17 +770,6 @@ uint8_t setPidUpdateCountDown(void) {
|
|||
}
|
||||
}
|
||||
|
||||
// Check for oneshot125 protection. With fast looptimes oneshot125 pulse duration gets more near the pid looptime
|
||||
bool shouldUpdateMotorsAfterPIDLoop(void) {
|
||||
if (targetPidLooptime > 375 ) {
|
||||
return true;
|
||||
} else if ((masterConfig.use_multiShot || masterConfig.use_oneshot42) && feature(FEATURE_ONESHOT125)) {
|
||||
return true;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
// Function for loop trigger
|
||||
void taskMainPidLoopCheck(void) {
|
||||
static uint32_t previousTime;
|
||||
|
|
@ -801,7 +790,6 @@ void taskMainPidLoopCheck(void) {
|
|||
static uint8_t pidUpdateCountdown;
|
||||
|
||||
if (runTaskMainSubprocesses) {
|
||||
if (!shouldUpdateMotorsAfterPIDLoop()) taskMotorUpdate();
|
||||
subTasksMainPidLoop();
|
||||
runTaskMainSubprocesses = false;
|
||||
}
|
||||
|
|
@ -813,7 +801,7 @@ void taskMainPidLoopCheck(void) {
|
|||
} else {
|
||||
pidUpdateCountdown = setPidUpdateCountDown();
|
||||
taskMainPidLoop();
|
||||
if (shouldUpdateMotorsAfterPIDLoop()) taskMotorUpdate();
|
||||
taskMotorUpdate();
|
||||
runTaskMainSubprocesses = true;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -16,8 +16,8 @@
|
|||
*/
|
||||
|
||||
#define FC_VERSION_MAJOR 2 // increment when a major release is made (big new feature, etc)
|
||||
#define FC_VERSION_MINOR 6 // increment when a minor release is made (small new feature, change etc)
|
||||
#define FC_VERSION_PATCH_LEVEL 2 // increment when a bug is fixed
|
||||
#define FC_VERSION_MINOR 7 // increment when a minor release is made (small new feature, change etc)
|
||||
#define FC_VERSION_PATCH_LEVEL 0 // increment when a bug is fixed
|
||||
|
||||
#define STR_HELPER(x) #x
|
||||
#define STR(x) STR_HELPER(x)
|
||||
|
|
|
|||
Loading…
Reference in New Issue