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Merge pull request #1984 from betaflight/3.1_msp 

Add 3.1 MSP parameters
This commit is contained in:
borisbstyle 2017-01-04 00:29:30 +01:00 committed by GitHub
parent b86e0fbf28 8ea3997989
commit e51e49647e
7 changed files with 19 additions and 10 deletions
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2
src/main/config/config_eeprom.h
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@ -17,7 +17,7 @@
#pragma once
#define EEPROM_CONF_VERSION 147
#define EEPROM_CONF_VERSION 148
void initEEPROM(void);
void writeEEPROM();

4
src/main/fc/config.c
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@ -177,13 +177,13 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->dterm_notch_cutoff = 160;
pidProfile->vbatPidCompensation = 0;
pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
pidProfile->levelAngleLimit = 70.0f; // 70 degrees
pidProfile->levelAngleLimit = 70; // 70 degrees
pidProfile->levelSensitivity = 100; // 100 degrees at full stick
pidProfile->setpointRelaxRatio = 30;
pidProfile->dtermSetpointWeight = 200;
pidProfile->yawRateAccelLimit = 20.0f;
pidProfile->rateAccelLimit = 0.0f;
pidProfile->itermThrottleThreshold = 350;
pidProfile->levelSensitivity = 100.0f;
}
void resetProfile(profile_t *profile)

11
src/main/fc/fc_msp.c
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@ -1139,6 +1139,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, motorConfig()->useUnsyncedPwm);
sbufWriteU8(dst, motorConfig()->motorPwmProtocol);
sbufWriteU16(dst, motorConfig()->motorPwmRate);
sbufWriteU16(dst, (uint16_t)(motorConfig()->digitalIdleOffsetPercent * 100));
break;
case MSP_FILTER_CONFIG :
@ -1166,6 +1167,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, 0); // reserved
sbufWriteU16(dst, currentProfile->pidProfile.rateAccelLimit * 10);
sbufWriteU16(dst, currentProfile->pidProfile.yawRateAccelLimit * 10);
sbufWriteU8(dst, currentProfile->pidProfile.levelAngleLimit);
sbufWriteU8(dst, currentProfile->pidProfile.levelSensitivity);
break;
case MSP_SENSOR_CONFIG:
@ -1461,7 +1464,6 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_RESET_CURR_PID:
resetProfile(currentProfile);
break;
case MSP_SET_SENSOR_ALIGNMENT:
gyroConfig()->gyro_align = sbufReadU8(src);
accelerometerConfig()->acc_align = sbufReadU8(src);
@ -1478,6 +1480,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
motorConfig()->motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_BRUSHED);
#endif
motorConfig()->motorPwmRate = sbufReadU16(src);
if (dataSize > 7) {
motorConfig()->digitalIdleOffsetPercent = sbufReadU16(src) / 100.0f;
}
break;
case MSP_SET_FILTER_CONFIG:
@ -1514,6 +1519,10 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU8(src); // reserved
currentProfile->pidProfile.rateAccelLimit = sbufReadU16(src) / 10.0f;
currentProfile->pidProfile.yawRateAccelLimit = sbufReadU16(src) / 10.0f;
if (dataSize > 17) {
currentProfile->pidProfile.levelAngleLimit = sbufReadU8(src);
currentProfile->pidProfile.levelSensitivity = sbufReadU8(src);
}
pidInitConfig(&currentProfile->pidProfile);
break;

4
src/main/flight/pid.h
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@ -72,7 +72,8 @@ typedef struct pidProfile_s {
uint8_t dterm_average_count; // Configurable delta count for dterm
uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage
uint8_t pidAtMinThrottle; // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
float levelAngleLimit;
uint8_t levelAngleLimit; // Max angle in degrees in level mode
uint8_t levelSensitivity; // Angle mode sensitivity reflected in degrees assuming user using full stick
// Betaflight PID controller parameters
uint16_t itermThrottleThreshold; // max allowed throttle delta before errorGyroReset in ms
@ -80,7 +81,6 @@ typedef struct pidProfile_s {
uint8_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
float yawRateAccelLimit; // yaw accel limiter for deg/sec/ms
float rateAccelLimit; // accel limiter roll/pitch deg/sec/ms
float levelSensitivity;
} pidProfile_t;
typedef struct pidConfig_s {

4
src/main/io/serial_cli.c
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@ -715,8 +715,8 @@ const clivalue_t valueTable[] = {
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], .config.minmax = { 0, 200 } },
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], .config.minmax = { 0, 200 } },
{ "level_stick_sensitivity", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelSensitivity, .config.minmax = { 10.0f, 200.0f } },
{ "level_angle_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelAngleLimit, .config.minmax = { 10.0f, 120.0f } },
{ "level_stick_sensitivity", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelSensitivity, .config.minmax = { 10, 200 } },
{ "level_angle_limit", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelAngleLimit, .config.minmax = { 10, 120 } },
#ifdef BLACKBOX
{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &blackboxConfig()->rate_num, .config.minmax = { 1, 32 } },

2
src/main/msp/msp_protocol.h
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@ -59,7 +59,7 @@
#define MSP_PROTOCOL_VERSION 0
#define API_VERSION_MAJOR 1 // increment when major changes are made
#define API_VERSION_MINOR 23 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
#define API_VERSION_MINOR 24 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
#define API_VERSION_LENGTH 2

2
src/main/target/NAZE/config.c
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@ -70,7 +70,7 @@ void targetConfiguration(master_t *config)
config->profile[profileId].pidProfile.I8[YAW] = 45;
config->profile[profileId].pidProfile.P8[PIDLEVEL] = 30;
config->profile[profileId].pidProfile.D8[PIDLEVEL] = 30;
config->profile[profileId].pidProfile.levelSensitivity = 50.0f;
config->profile[profileId].pidProfile.levelSensitivity = 50;
for (int rateProfileId = 0; rateProfileId < MAX_RATEPROFILES; rateProfileId++) {
config->profile[profileId].controlRateProfile[rateProfileId].rcRate8 = 100;