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Code Issues Releases Activity

LP-44 - some optimizations and cleanup

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This commit is contained in:
Alessio Morale 2015-09-03 02:27:44 +02:00 committed by Laurent Lalanne
parent 69125e8e9d
commit fb3e65e057
4 changed files with 9 additions and 15 deletions
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2
flight/modules/Receiver/receiver.c
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@ -817,7 +817,7 @@ static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel
float floatDeadband = ((float)deadband) * 0.01f;
// avoid a long tail of non-zero data. if we have deadband, once the filtered result reduces to 1/10th
// of deadband revert to 0. We downstream rely on this to know when sticks are centered.
if (floatDeadband > 0.0f && fabsf(inputFiltered[channel]) < floatDeadband / 10.0f) {
if (floatDeadband > 0.0f && fabsf(inputFiltered[channel]) < floatDeadband * 0.1f) {
inputFiltered[channel] = 0.0f;
}
*value = inputFiltered[channel];

6
flight/modules/Stabilization/inc/stabilization.h
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@ -45,10 +45,8 @@ typedef struct {
StabilizationSettingsData settings;
StabilizationBankData stabBank;
float gyro_alpha;
float floatThrustPIDScaleCurve[5];
float floatAcroInsanityFactorRoll;
float floatAcroInsanityFactorPitch;
float floatAcroInsanityFactorYaw;
float floatThrustPIDScaleCurve[STABILIZATIONBANK_THRUSTPIDSCALECURVE_NUMELEM];
float acroInsanityFactors[STABILIZATIONBANK_ACROINSANITYFACTOR_NUMELEM];
struct {
float min_thrust;
float max_thrust;

8
flight/modules/Stabilization/innerloop.c
View File

@ -302,15 +302,11 @@ static void stabilizationInnerloopTask()
-StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t],
StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t]
);
const float acroFactors[] = {
stabSettings.floatAcroInsanityFactorRoll,
stabSettings.floatAcroInsanityFactorPitch,
stabSettings.floatAcroInsanityFactorYaw
};
pid_scaler ascaler = create_pid_scaler(t);
ascaler.i *= boundf(1.0f - (1.5f * fabsf(stickinput[t])), 0.0f, 1.0f); // this prevents Integral from getting too high while controlled manually
float arate = pid_apply_setpoint(&stabSettings.innerPids[t], &ascaler, rate[t], gyro_filtered[t], dT);
float factor = fabsf(stickinput[t]) * acroFactors[t];
float factor = fabsf(stickinput[t]) * stabSettings.acroInsanityFactors[t];
actuatorDesiredAxis[t] = factor * stickinput[t] + (1.0f - factor) * arate;
}
break;

8
flight/modules/Stabilization/stabilization.c
View File

@ -382,12 +382,12 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
stabSettings.cruiseControl.half_power_delay = stabSettings.settings.CruiseControlPowerDelayComp / 2.0f;
stabSettings.cruiseControl.max_power_factor_angle = RAD2DEG(acosf(1.0f / stabSettings.settings.CruiseControlMaxPowerFactor));
for (int i = 0; i < 5; i++) {
for (int i = 0; i < STABILIZATIONSETTINGSBANK1_THRUSTPIDSCALECURVE_NUMELEM; i++) {
stabSettings.floatThrustPIDScaleCurve[i] = (float)(stabSettings.stabBank.ThrustPIDScaleCurve[i]) * 0.01f;
}
stabSettings.floatAcroInsanityFactorRoll = (float)(stabSettings.stabBank.AcroInsanityFactor.Roll) * 0.01f;
stabSettings.floatAcroInsanityFactorPitch = (float)(stabSettings.stabBank.AcroInsanityFactor.Pitch) * 0.01f;
stabSettings.floatAcroInsanityFactorYaw = (float)(stabSettings.stabBank.AcroInsanityFactor.Yaw) * 0.01f;
stabSettings.acroInsanityFactors[0] = (float)(stabSettings.stabBank.AcroInsanityFactor.Roll) * 0.01f;
stabSettings.acroInsanityFactors[1] = (float)(stabSettings.stabBank.AcroInsanityFactor.Pitch) * 0.01f;
stabSettings.acroInsanityFactors[2] = (float)(stabSettings.stabBank.AcroInsanityFactor.Yaw) * 0.01f;
}
/**