void blackboxLogInflightAdjustmentEventFloat(adjustmentFunction_e adjustmentFunction, float newFloatValue) {
#ifndef BLACKBOX
UNUSED(adjustmentFunction);
UNUSED(newFloatValue);
#else
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_inflightAdjustment_t eventData;
eventData.adjustmentFunction = adjustmentFunction;
eventData.newFloatValue = newFloatValue;
eventData.floatFlag = true;
blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
}
#endif
}
static void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue)
{
#ifndef USE_BLACKBOX
UNUSED(adjustmentFunction);
UNUSED(newValue);
#else
if (blackboxConfig()->device) {
flightLogEvent_inflightAdjustment_t eventData;
eventData.adjustmentFunction = adjustmentFunction;
eventData.newValue = newValue;
eventData.floatFlag = false;
blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
}
#endif
}
void calculate_Gtune(uint8_t axis)
{
int16_t error, diff_G, threshP;
if(rcCommand[axis] || (axis != FD_YAW && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)))) { // Block tuning on stick input. Always allow G-Tune on YAW, Roll & Pitch only in acromode
OldError[axis] = 0;
time_skip[axis] = delay_cycles; // Some settle time after stick center. default 450ms
} else {
if (!time_skip[axis]) AvgGyro[axis] = 0;
time_skip[axis]++;
if (time_skip[axis] > 0) {
if (axis == FD_YAW) {
AvgGyro[axis] += 32 * ((int16_t)gyroADC[axis] / 32); // Chop some jitter and average
} else {
AvgGyro[axis] += 128 * ((int16_t)gyroADC[axis] / 128); // Chop some jitter and average
}
}
if (time_skip[axis] == gtuneConfig()->gtune_average_cycles) { // Looptime cycles for gyro average calculation. default 16.
AvgGyro[axis] /= time_skip[axis]; // AvgGyro[axis] has now very clean gyrodata
time_skip[axis] = 0;
if (axis == FD_YAW) {
threshP = 20;
error = -AvgGyro[axis];
} else {
threshP = 10;
error = AvgGyro[axis];
}
if (gtuneConfig()->gtune_hilimP[axis] && error && OldError[axis] && error != OldError[axis]) { // Don't run when not needed or pointless to do so
diff_G = ABS(error) - ABS(OldError[axis]);
if ((error > 0 && OldError[axis] > 0) || (error < 0 && OldError[axis] < 0)) {
if (diff_G > threshP) {
if (axis == FD_YAW) {
result_P64[axis] += 256 + gtuneConfig()->gtune_pwr; // YAW ends up at low limit on float PID, give it some more to work with.
} else {
result_P64[axis] += 64 + gtuneConfig()->gtune_pwr; // Shift balance a little on the plus side.
}
} else {
if (diff_G < -threshP) {
if (axis == FD_YAW) {
result_P64[axis] -= 64 + gtuneConfig()->gtune_pwr;
} else {
result_P64[axis] -= 32;
}
}
}
} else {
if (ABS(diff_G) > threshP && axis != FD_YAW) {
result_P64[axis] -= 32; // Don't use antiwobble for YAW
}
}
int16_t newP = constrain((result_P64[axis] >> 6), (int16_t)gtuneConfig()->gtune_lolimP[axis], (int16_t)gtuneConfig()->gtune_hilimP[axis]);
#ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_gtuneCycleResult_t eventData;
eventData.gtuneAxis = axis;
eventData.gtuneGyroAVG = AvgGyro[axis];
eventData.gtuneNewP = newP; // for float PID the logged P value is still mutiplyed by 10
blackboxLogEvent(FLIGHT_LOG_EVENT_GTUNE_RESULT, (flightLogEventData_t*)&eventData);
}
#endif
pidProfile()->P8[axis] = newP; // new P value
}
OldError[axis] = error;
}
