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April 8, 2020 13:50
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new and removed features/variables for Emu MSP
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#replaces spa(mixed) | |
done: spa_roll_p | |
done: spa_roll_i | |
done: spa_roll_d | |
done: spa_pitch_p | |
done: spa_pitch_i | |
done: spa_pitch_d | |
#already there | |
done: spa_yaw_p | |
done: spa_yaw_i | |
done: spa_yaw_d | |
#replaces smart_dterm_smoothing (single) | |
done: smart_dterm_smoothing_roll | |
done: smart_dterm_smoothing_pitch | |
done: smart_dterm_smoothing_yaw | |
#replaces witchcraft (single) | |
done: witchcraft_roll | |
done: witchcraft_pitch | |
done: witchcraft_yaw | |
#REDACTED, do we need to purge from MSP? | |
done: gyro_average_roll | |
done: gyro_average_pitch | |
done: gyro_average_yaw | |
#replaces gyro_lowpass_hz single, IS THIS STAYING? | |
done: gyro_lowpass_hz_roll | |
done: gyro_lowpass_hz_pitch | |
done: gyro_lowpass_hz_yaw | |
#replaces gyro_lowpass2_hz single | |
done: gyro_lowpass2_hz_roll | |
done: gyro_lowpass2_hz_pitch | |
done: gyro_lowpass2_hz_yaw | |
#replaces dterm_lowpass_hz single | |
done: dterm_lowpass_hz_roll | |
done: dterm_lowpass_hz_pitch | |
done: dterm_lowpass_hz_yaw | |
#replaces dterm_lowpass2_hz single | |
done: dterm_lowpass2_hz_roll | |
done: dterm_lowpass2_hz_pitch | |
done: dterm_lowpass2_hz_yaw | |
not done: p_angle_low | |
not done: d_angle_low | |
not done: p_angle_high | |
not done: d_angle_high | |
not done: f_angle | |
not done: angle_expo | |
#remove! | |
done: dterm_notch_hz = 0 | |
done: dterm_notch_cutoff = 0 | |
#remove! | |
done: yaw_lowpass_hz | |
#remove! | |
done: acro_trainer_angle_limit | |
done: acro_trainer_lookahead_ms | |
done: acro_trainer_debug_axis | |
done: acro_trainer_gain | |
#add | |
not done: p_angle_low | |
not done: d_angle_low | |
not done: p_angle_high | |
not done: d_angle_high | |
not done: f_angle | |
not done: angle_expo | |
#add | |
not done: imuf_sharpness | |
#remove! | |
not done purge: FF (roll, pitch, yaw) | |
#add stick-pids | |
not done: set stick_center_p | |
not done: set stick_end_p | |
not done: set stick_center_d | |
not done: set stick_end_d |
Apr 07 2020: Thanks to @loutwice
// angle L and H
currentPidProfile->pid[PID_LEVEL_LOW].P = sbufReadU8(src);
currentPidProfile->pid[PID_LEVEL_LOW].D = sbufReadU8(src);
currentPidProfile->pid[PID_LEVEL_LOW].F = sbufReadU16(src);
currentPidProfile->pid[PID_LEVEL_HIGH].P = sbufReadU8(src);
currentPidProfile->pid[PID_LEVEL_HIGH].D = sbufReadU8(src);
sbufWriteU16(dst, gyroConfig()->imuf_sharpness);
// sitckpids added in 1.46
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.rateSensCenter);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.rateSensEnd);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.rateCorrectionCenter);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.rateCorrectionEnd);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.rateWeightCenter);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.rateWeightEnd);
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#add
not done: p_angle_low
not done: d_angle_low
not done: p_angle_high
not done: d_angle_high
not done: f_angle
not done: angle_expo
#add
not done: imuf_sharpness
#remove!
not done purge: FF (roll, pitch, yaw)
#add stick-pids
not done: set stick_center_p
not done: set stick_end_p
not done: set stick_center_d
not done: set stick_end_d