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Fix gps rescue throttle pid gains #572

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Fix gps rescue throttle pid gains #572

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8fd2fd7
Fix gps rescue throttle pid gains
ctzsnooze Apr 29, 2022
5133443
fixes for sonar cloud, thanks Mark and Miguel
ctzsnooze May 21, 2022
e4228e2
fix duplicate
ctzsnooze Jun 1, 2022
278666a
remove trailing spaces and spaces on empty lines
ctzsnooze Jun 1, 2022
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4 changes: 4 additions & 0 deletions js/flightlog_fielddefs.js
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Original file line number Diff line number Diff line change
Expand Up @@ -339,6 +339,10 @@ var
"TIMING_ACCURACY",
"RX_EXPRESSLRS_SPI",
"RX_EXPRESSLRS_PHASELOCK",
"DEBUG_RX_STATE_TIME",
"GPS_RESCUE_VELOCITY",
"GPS_RESCUE_HEADING",
"GPS_RESCUE_TRACKING",
]),

SUPER_EXPO_YAW = makeReadOnly([
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100 changes: 85 additions & 15 deletions js/flightlog_fields_presenter.js
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Original file line number Diff line number Diff line change
Expand Up @@ -398,8 +398,8 @@ function FlightLogFieldPresenter() {
'RTH' : {
'debug[all]':'RTH',
'debug[0]':'Rescue Throttle',
'debug[1]':'Rescue Angle',
'debug[2]':'Altitude Adjustment',
'debug[1]':'Rescue Pitch Angle',
'debug[2]':'Throttle adjustment',
'debug[3]':'Rescue State',
},
'ITERM_RELAX' : {
Expand Down Expand Up @@ -626,6 +626,27 @@ function FlightLogFieldPresenter() {
'debug[2]':'Frequency Offset',
'debug[3]':'Phase Shift',
},
'GPS_RESCUE_VELOCITY' : {
'debug[all]':'GPS Rescue Velocity',
'debug[0]':'Velocity P',
'debug[1]':'Velocity D',
'debug[2]':'Velocity to Home',
'debug[3]':'Target Velocity',
},
'GPS_RESCUE_HEADING' : {
'debug[all]':'GPS Rescue Heading',
'debug[0]':'Rescue Yaw',
'debug[1]':'Rescue Roll',
'debug[2]':'Attitude',
'debug[3]':'Angle to home',
},
'GPS_RESCUE_TRACKING' : {
'debug[all]':'GPS Rescue Tracking',
'debug[0]':'Velocity to home',
'debug[1]':'Target velocity',
'debug[2]':'Altitude',
'debug[3]':'Target altitude',
},
};

let DEBUG_FRIENDLY_FIELD_NAMES = null;
Expand Down Expand Up @@ -678,6 +699,13 @@ function FlightLogFieldPresenter() {
'debug[2]':'Notch 3 Center Freq [dbg-axis]',
'debug[3]':'Gyro Pre Dyn Notch [dbg-axis]',
};
DEBUG_FRIENDLY_FIELD_NAMES.GPS_RESCUE_THROTTLE_PID = {
'debug[all]':'GPS Rescue Altitude',
'debug[0]':'Throttle P',
'debug[1]':'Throttle D',
'debug[2]':'Altitude',
'debug[3]':'Target Altitude',
};
} else if (semver.gte(firmwareVersion, '4.2.0')) {
DEBUG_FRIENDLY_FIELD_NAMES.FF_INTERPOLATED = {
'debug[all]':'Feedforward [roll]',
Expand Down Expand Up @@ -999,10 +1027,13 @@ function FlightLogFieldPresenter() {
}
case 'RTH':
switch(fieldName) {
case 'debug[0]': // rescue throttle 1000-2000
case 'debug[2]': // altitude adjustment min to max throttle
return value.toFixed(0) + 'us';
case 'debug[1]':
return (value / 100).toFixed(1) + 'deg';
return (value / 100).toFixed(1) + 'deg'; // rescue pitch angle
default:
return value.toFixed(0);
return value.toFixed(0); // coded values to 2000
}
case 'ITERM_RELAX':
switch (fieldName) {
Expand Down Expand Up @@ -1056,7 +1087,16 @@ function FlightLogFieldPresenter() {
return value.toFixed(0) + "Hz";
}
case 'GPS_RESCUE_THROTTLE_PID':
return value.toFixed(0);
switch (fieldName) {
case 'debug[0]': // Throttle P added us
case 'debug[1]': // Throttle D added * us
return value.toFixed(0) + 'us';
case 'debug[2]': // current altitude in m
case 'debug[3]': // TARGET altitude in m
return (value / 100).toFixed(1) + 'm';
default:
return value.toFixed(0);
}
case 'DYN_IDLE':
switch (fieldName) {
case 'debug[3]': // minRPS
Expand All @@ -1078,12 +1118,12 @@ function FlightLogFieldPresenter() {
}
case 'GHST':
switch (fieldName) {
// debug 0 is CRC error count 0 to int16_t
// debug 1 is unknown frame count 0 to int16_t
// debug 2 is RSSI 0 to -128 -> 0 to 128
case 'debug[3]': // LQ 0-100
return value.toFixed(0) + '%';
default:
// debug 0 is CRC error count 0 to int16_t
// debug 1 is unknown frame count 0 to int16_t
// debug 2 is RSSI 0 to -128 -> 0 to 128
return value.toFixed(0);
}
case 'SCHEDULER_DETERMINISM':
Expand All @@ -1092,8 +1132,8 @@ function FlightLogFieldPresenter() {
case 'debug[2]': // task delay time in us*10
case 'debug[3]': // task delay time in us*10
return (value / 10).toFixed(1) + 'us';
// debug 1 is task ID of late task
default:
// debug 1 is task ID of late task
return value.toFixed(0);
}
case 'TIMING_ACCURACY':
Expand All @@ -1109,22 +1149,52 @@ function FlightLogFieldPresenter() {
switch (fieldName) {
case 'debug[3]': // uplink LQ %
return value.toFixed(1) + '%';
// debug 0 = Lost connection count
// debug 1 = RSSI
// debug 2 = SNR
default:
// debug 0 = Lost connection count
// debug 1 = RSSI
// debug 2 = SNR
return value.toFixed(0);
}
case 'RX_EXPRESSLRS_PHASELOCK':
switch (fieldName) {
case 'debug[2]': // Frequency offset in ticks
return value.toFixed(0) + 'ticks';
// debug 0 = Phase offset us
// debug 1 = Filtered phase offset us
// debug 3 = Pphase shift in us
default:
// debug 0 = Phase offset us
// debug 1 = Filtered phase offset us
// debug 3 = Pphase shift in us
return value.toFixed(0) + 'us';
}
case 'GPS_RESCUE_VELOCITY':
switch (fieldName) {
case 'debug[0]': // Pitch P degrees * 100
case 'debug[1]': // Pitch D degrees * 100
return (value / 100).toFixed(1) + 'deg';
case 'debug[2]': // velocity to home cm/s
case 'debug[3]': // velocity target cm/s
return (value / 100).toFixed(1) + 'm/s';
}
case 'GPS_RESCUE_HEADING':
switch (fieldName) {
case 'debug[0]': // Rescue yaw rate deg/s * 10 up to +/- 90
return (value / 10).toFixed(1) + 'deg/s';
case 'debug[1]': // Rescue roll deg * 100 up to +/- 20 deg
return (value / 100).toFixed(1) + 'deg';
case 'debug[2]': // Attitude in degrees * 10
case 'debug[3]': // Angle to home in degrees * 10
return (value / 10).toFixed(1) + 'deg';
}
case 'GPS_RESCUE_TRACKING':
switch (fieldName) {
case 'debug[0]': // velocity to home cm/s
case 'debug[1]': // velocity target cm/s
return (value / 100).toFixed(1) + 'm/s';
case 'debug[2]': // altitude cm
case 'debug[3]': // altitude target cm
return (value / 100).toFixed(1) + 'm';
default:
return value.toFixed(0);
}
}
return value.toFixed(0);
}
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123 changes: 123 additions & 0 deletions js/graph_config.js
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Original file line number Diff line number Diff line change
Expand Up @@ -736,6 +736,129 @@ GraphConfig.load = function(config) {
default:
return getCurveForMinMaxFields(fieldName);
}
case 'GPS_RESCUE_THROTTLE_PID':
switch (fieldName) {
case 'debug[0]': // Throttle P uS added
case 'debug[1]': // Throttle D uS added
return {
offset: 0,
power: 1.0,
inputRange: 300,
outputRange: 1.0,
};
case 'debug[2]': // Altitude
case 'debug[3]': // Target Altitude
return {
offset: 0,
power: 1.0,
inputRange: 5000,
outputRange: 1.0,
};
default:
return getCurveForMinMaxFields(fieldName);
}
case 'GPS_RESCUE_VELOCITY':
switch (fieldName) {
case 'debug[0]': // Pitch P deg * 100
case 'debug[1]': // Pitch D deg * 100
return {
offset: 0,
power: 1.0,
inputRange: 2000,
outputRange: 1.0,
};
case 'debug[2]': // Velocity in cm/s
case 'debug[3]': // Velocity to home in cm/s
return {
offset: 0,
power: 1.0,
inputRange: 500,
outputRange: 1.0,
};
default:
return getCurveForMinMaxFields(fieldName);
}
case 'GPS_RESCUE_HEADING':
switch (fieldName) {
case 'debug[0]': // Rescue yaw rate deg/s * 10 up to +/- 90
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@McGiverGim McGiverGim Jun 1, 2022

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Sonar issue: trailing space at the end

return {
offset: 0,
power: 1.0,
inputRange: 1000,
outputRange: 1.0,
};
case 'debug[1]': // Rescue roll deg * 10 up to +/- 20 deg
return {
offset: 0,
power: 1.0,
inputRange: 10000,
outputRange: 1.0,
};
case 'debug[2]': // Yaw attitude * 10
case 'debug[3]': // Angle to home * 10
return {
offset: -1800,
power: 1.0,
inputRange: 1800,
outputRange: 1.0,
};
default:
return getCurveForMinMaxFields(fieldName);
}
case 'RTH':
switch (fieldName) {
case 'debug[0]': // Rescue throttle 1000-2000 us
return {
offset: -1500,
power: 1.0,
inputRange: 500,
outputRange: 1.0,
};
case 'debug[2]': // Altitude adjustment or positive of negative
return {
offset: 0,
power: 1.0,
inputRange: 500,
outputRange: 1.0,
};
case 'debug[1]': // rescue pitch angle
return {
offset: 0,
power: 1.0,
inputRange: 5000,
outputRange: 1.0,
};
case 'debug[3]': // Failure counters coded
return {
offset: -1000,
power: 1.0,
inputRange: 1000,
outputRange: 1.0,
};
default:
return getCurveForMinMaxFields(fieldName);
}
case 'GPS_RESCUE_TRACKING':
switch (fieldName) {
case 'debug[0]': // velocity to home cm/s
case 'debug[1]': // target velocity cm/s
return {
offset: 0,
power: 1.0,
inputRange: 500,
outputRange: 1.0,
};
case 'debug[2]': // altitude m
case 'debug[3]': // Target altitude m
return {
offset: 0,
power: 1.0,
inputRange: 5000,
outputRange: 1.0,
};
default:
return getCurveForMinMaxFields(fieldName);
}
}
}
// if not found above then
Expand Down