diff --git a/flight/modules/AutoTune/autotune.c b/flight/modules/AutoTune/autotune.c
index 6d5f34536..cd2b6dd7a 100644
--- a/flight/modules/AutoTune/autotune.c
+++ b/flight/modules/AutoTune/autotune.c
@@ -134,7 +134,7 @@ static float gyroReadTimeAverage;
static float gyroReadTimeAverageAlpha;
static float gyroReadTimeAverageAlphaAlpha;
static float alpha;
-static float smoothQuickSetting;
+static float smoothQuickValue;
static volatile uint32_t atPointsSpilled;
static uint32_t throttleAccumulator;
static uint8_t rollMax, pitchMax;
@@ -232,7 +232,7 @@ static void AutoTuneTask(__attribute__((unused)) void *parameters)
float noise[3] = { 0 };
float dT_s = 0.0f;
uint32_t lastUpdateTime = 0; // initialization is only for compiler warning
- uint32_t lastTime = 0.0f;
+ uint32_t lastTime = 0;
uint32_t measureTime = 0;
uint32_t updateCounter = 0;
enum AUTOTUNE_STATE state = AT_INIT;
@@ -254,7 +254,7 @@ static void AutoTuneTask(__attribute__((unused)) void *parameters)
// based on what is in SystemIdent
// so that the user can use the PID smooth->quick slider in flights following the autotune flight
InitSystemIdent(false);
- smoothQuickSetting = systemIdentSettings.SmoothQuickSetting;
+ smoothQuickValue = systemIdentSettings.SmoothQuickValue;
while (1) {
uint32_t diffTime;
@@ -297,15 +297,15 @@ static void AutoTuneTask(__attribute__((unused)) void *parameters)
// if user toggled while armed set PID's to next in sequence
// if you assume that smoothest is -1 and quickest is +1
// this corresponds to 0,+.50,+1.00,-1.00,-.50 (for 5 position toggle)
- smoothQuickSetting += 1.0f / (float)flightModeSwitchTogglePosition;
- if (smoothQuickSetting > 1.001f) {
- smoothQuickSetting = -1.0f;
+ smoothQuickValue += 1.0f / (float)flightModeSwitchTogglePosition;
+ if (smoothQuickValue > 1.001f) {
+ smoothQuickValue = -1.0f;
}
} else {
// if they did the 3x FMS toggle while disarmed, set PID's back to the middle of smoothquick
- smoothQuickSetting = 0.0f;
+ smoothQuickValue = 0.0f;
}
- // calculate PIDs based on new smoothQuickSetting and save to the PID bank
+ // calculate PIDs based on new smoothQuickValue and save to the PID bank
ProportionPidsSmoothToQuick();
// save new PIDs permanently when / if disarmed
savePidNeeded = true;
@@ -347,9 +347,9 @@ static void AutoTuneTask(__attribute__((unused)) void *parameters)
// a test Taranis transmitter knob has about 0.0233 slop out of a range of 2.0
// what we are doing here does not need any higher precision than that
// user must move the knob more than 1/85th of the total range (of 2.0) for it to register as changed
- if (fabsf(smoothQuickSetting - accessoryValue.AccessoryVal) > (2.0f / 85.0f)) {
- smoothQuickSetting = accessoryValue.AccessoryVal;
- // calculate PIDs based on new smoothQuickSetting and save to the PID bank
+ if (fabsf(smoothQuickValue - accessoryValue.AccessoryVal) > (2.0f / 85.0f)) {
+ smoothQuickValue = accessoryValue.AccessoryVal;
+ // calculate PIDs based on new smoothQuickValue and save to the PID bank
ProportionPidsSmoothToQuick();
// this schedules the first possible write of the PIDs to occur a fraction of a second or so from now
// and changes the scheduled time if it is already scheduled
@@ -432,7 +432,7 @@ static void AutoTuneTask(__attribute__((unused)) void *parameters)
break;
case AT_START:
- diffTime = xTaskGetTickCount() - lastUpdateTime;
+ diffTime = xTaskGetTickCount() - lastUpdateTime;
doingIdent = true;
// after an additional short delay, start capturing data
if (diffTime > INIT_TIME_DELAY2_MS) {
@@ -443,9 +443,9 @@ static void AutoTuneTask(__attribute__((unused)) void *parameters)
// and the complete data has been sanity checked
savePidNeeded = false;
// get the tuning duration in case the user just changed it
- measureTime = (uint32_t)systemIdentSettings.TuningDuration * (uint32_t)1000;
+ measureTime = (uint32_t)systemIdentSettings.TuningDuration * (uint32_t)1000;
// init the "previous packet timestamp"
- lastTime = PIOS_DELAY_GetRaw();
+ lastTime = PIOS_DELAY_GetRaw();
/* Drain the queue of all current data */
xQueueReset(atQueue);
/* And reset the point spill counter */
@@ -478,8 +478,8 @@ static void AutoTuneTask(__attribute__((unused)) void *parameters)
dT_s = PIOS_DELAY_DiffuS2(lastTime, pt.gyroStateCallbackTimestamp) * 1.0e-6f;
/* This is for the first point, but
* also if we have extended drops */
- if (dT_s > 5.0f/PIOS_SENSOR_RATE) {
- dT_s = 5.0f/PIOS_SENSOR_RATE;
+ if (dT_s > 5.0f / PIOS_SENSOR_RATE) {
+ dT_s = 5.0f / PIOS_SENSOR_RATE;
}
lastTime = pt.gyroStateCallbackTimestamp;
// original algorithm handles time from GyroStateGet() to detected motion
@@ -690,7 +690,7 @@ static void InitSystemIdent(bool loadDefaults)
case SMOOTH_QUICK_ACCESSORY_BASE + 1: // use accessory1
case SMOOTH_QUICK_ACCESSORY_BASE + 2: // use accessory2
case SMOOTH_QUICK_ACCESSORY_BASE + 3: // use accessory3
- // leave smoothQuickSetting alone since it is always controlled by knob
+ // leave smoothQuickValue alone since it is always controlled by knob
// disable PID changing with flight mode switch
flightModeSwitchTogglePosition = -1;
// enable PID changing with accessory0-3
@@ -702,7 +702,7 @@ static void InitSystemIdent(bool loadDefaults)
// don't allow init of current toggle position in the middle of 3x fms toggle
if (loadDefaults) {
// set toggle to middle of range
- smoothQuickSetting = 0.0f;
+ smoothQuickValue = 0.0f;
}
// enable PID changing with flight mode switch
flightModeSwitchTogglePosition = (SmoothQuickSource - 1 - SMOOTH_QUICK_TOGGLE_BASE) / 2;
@@ -711,7 +711,7 @@ static void InitSystemIdent(bool loadDefaults)
break;
case SMOOTH_QUICK_DISABLED:
default:
- // leave smoothQuickSetting alone so user can set it to a different value and have it stay that value
+ // leave smoothQuickValue alone so user can set it to a different value and have it stay that value
// disable PID changing with flight mode switch
flightModeSwitchTogglePosition = -1;
// disable PID changing with accessory0-3
@@ -751,7 +751,7 @@ static void UpdateSystemIdentState(const float *X, const float *noise,
systemIdentSettings.Tau = u.systemIdentState.Tau;
memcpy(&systemIdentSettings.Beta, &u.systemIdentState.Beta, sizeof(SystemIdentSettingsBetaData));
systemIdentSettings.GyroReadTimeAverage = u.systemIdentState.GyroReadTimeAverage;
- systemIdentSettings.SmoothQuickSetting = smoothQuickSetting;
+ systemIdentSettings.SmoothQuickValue = smoothQuickValue;
SystemIdentStateSet(&u.systemIdentState);
}
@@ -847,6 +847,7 @@ static uint8_t CheckSettingsRaw()
static uint8_t CheckSettings()
{
uint8_t retVal = CheckSettingsRaw();
+
if (systemIdentSettings.DisableSanityChecks) {
retVal = 0;
}
@@ -1007,7 +1008,7 @@ static void ComputeStabilizationAndSetPidsFromDampAndNoise(float dampRate, float
// the amount to reduce kp and ki is taken from ZN tuning
// specifically kp is parameterized based on the ratio between kp(PID) and kp(PI) as the D factor varies from 1 to 0
// https://en.wikipedia.org/wiki/PID_controller
- // Kp Ki Kd
+ // Kp Ki Kd
// -----------------------------------
// P 0.50*Ku - -
// PI 0.45*Ku 1.2*Kp/Tu -
@@ -1015,13 +1016,13 @@ static void ComputeStabilizationAndSetPidsFromDampAndNoise(float dampRate, float
//
// so Kp is multiplied by (.45/.60) if Kd is reduced to 0
// and Ki is multiplied by (1.2/2.0) if Kd is reduced to 0
- #define KP_REDUCTION (.45f/.60f)
- #define KI_REDUCTION (1.2f/2.0f)
+ #define KP_REDUCTION (.45f / .60f)
+ #define KI_REDUCTION (1.2f / 2.0f)
// this link gives some additional ratios that are different
// the reduced overshoot ratios are invalid for this purpose
// https://en.wikipedia.org/wiki/Ziegler%E2%80%93Nichols_method
- // Kp Ki Kd
+ // Kp Ki Kd
// ------------------------------------------------
// P 0.50*Ku - -
// PI 0.45*Ku Tu/1.2 -
@@ -1034,8 +1035,8 @@ static void ComputeStabilizationAndSetPidsFromDampAndNoise(float dampRate, float
// reduce roll and pitch, but not yaw
// yaw PID is entirely based on roll or pitch PIDs which have already been reduced
if (i < 2) {
- kp = kp * KP_REDUCTION + kp * systemIdentSettings.DerivativeFactor * (1.0f-KP_REDUCTION);
- ki = ki * KI_REDUCTION + ki * systemIdentSettings.DerivativeFactor * (1.0f-KI_REDUCTION);
+ kp = kp * KP_REDUCTION + kp * systemIdentSettings.DerivativeFactor * (1.0f - KP_REDUCTION);
+ ki = ki * KI_REDUCTION + ki * systemIdentSettings.DerivativeFactor * (1.0f - KI_REDUCTION);
kd *= systemIdentSettings.DerivativeFactor;
}
@@ -1105,7 +1106,7 @@ static void ProportionPidsSmoothToQuick()
{
float ratio, damp, noise;
float min = -1.0f;
- float val = smoothQuickSetting;
+ float val = smoothQuickValue;
float max = 1.0f;
// translate from range [min, max] to range [0, max-min]
@@ -1128,7 +1129,7 @@ static void ProportionPidsSmoothToQuick()
ComputeStabilizationAndSetPidsFromDampAndNoise(damp, noise);
// save it to the system, but not yet written to flash
- SystemIdentSettingsSmoothQuickSettingSet(&smoothQuickSetting);
+ SystemIdentSettingsSmoothQuickValueSet(&smoothQuickValue);
}
diff --git a/shared/uavobjectdefinition/gyrosensor.xml b/shared/uavobjectdefinition/gyrosensor.xml
index eddc4e943..d51efd1a1 100644
--- a/shared/uavobjectdefinition/gyrosensor.xml
+++ b/shared/uavobjectdefinition/gyrosensor.xml
@@ -5,7 +5,7 @@
-
+
diff --git a/shared/uavobjectdefinition/gyrostate.xml b/shared/uavobjectdefinition/gyrostate.xml
index a90373fa7..35e7c1da8 100644
--- a/shared/uavobjectdefinition/gyrostate.xml
+++ b/shared/uavobjectdefinition/gyrostate.xml
@@ -4,7 +4,7 @@
-
+
diff --git a/shared/uavobjectdefinition/systemidentsettings.xml b/shared/uavobjectdefinition/systemidentsettings.xml
index 017d00417..02c9b1924 100644
--- a/shared/uavobjectdefinition/systemidentsettings.xml
+++ b/shared/uavobjectdefinition/systemidentsettings.xml
@@ -33,7 +33,7 @@
-
+
@@ -47,7 +47,7 @@
-
+