Remove the Remote Tiltback Smoothing Factor

Feature: The Remote Tiltback Smoothing Factor configuration option has been removed. > Its default value of 1 is now used for smoothing.
lukash · Oct 20, 2024 · a55925f · a55925f
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commit a55925f
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Showing 3 changed files with 24 additions and 67 deletions.
diff --git a/src/conf/datatypes.h b/src/conf/datatypes.h
@@ -189,7 +189,6 @@ typedef struct {
     FLOAT_INPUTTILT_REMOTE_TYPE inputtilt_remote_type;
     float inputtilt_speed;
     float inputtilt_angle_limit;
-    uint16_t inputtilt_smoothing_factor;
     bool inputtilt_invert_throttle;
     float inputtilt_deadband;
     float remote_throttle_current_max;

diff --git a/src/conf/settings.xml b/src/conf/settings.xml
@@ -948,31 +948,6 @@ p, li { white-space: pre-wrap; }
             <suffix> °/s</suffix>
             <vTx>7</vTx>
         </inputtilt_speed>
-        <inputtilt_smoothing_factor>
-            <longName>Tiltback Smoothing Factor</longName>
-            <type>2</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Determines how much smoothing is added to Remote Tilt, such as when you start tilting and as you approach the target angle.&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;0 = No Smoothing&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;3 = Maximum Smoothing&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-style:italic;&quot;&gt;Recommended Values: 1-2&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>CFG_DFLT_INPUTTILT_SMOOTHING_FACTOR</cDefine>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxInt>3</maxInt>
-            <minInt>0</minInt>
-            <showDisplay>1</showDisplay>
-            <stepInt>1</stepInt>
-            <valInt>1</valInt>
-            <suffix></suffix>
-            <vTx>1</vTx>
-        </inputtilt_smoothing_factor>
         <inputtilt_invert_throttle>
             <longName>Invert Throttle</longName>
             <type>5</type>
@@ -3343,7 +3318,6 @@ p, li { white-space: pre-wrap; }
         <ser>inputtilt_remote_type</ser>
         <ser>inputtilt_angle_limit</ser>
         <ser>inputtilt_speed</ser>
-        <ser>inputtilt_smoothing_factor</ser>
         <ser>inputtilt_invert_throttle</ser>
         <ser>inputtilt_deadband</ser>
         <ser>remote_throttle_current_max</ser>
@@ -3581,7 +3555,6 @@ p, li { white-space: pre-wrap; }
                     <param>inputtilt_remote_type</param>
                     <param>inputtilt_angle_limit</param>
                     <param>inputtilt_speed</param>
-                    <param>inputtilt_smoothing_factor</param>
                     <param>inputtilt_invert_throttle</param>
                     <param>inputtilt_deadband</param>
                     <param>::sep::Remote Throttle</param>

diff --git a/src/main.c b/src/main.c
@@ -870,48 +870,33 @@ static void apply_inputtilt(data *d) {
     float input_tiltback_target_diff = input_tiltback_target - d->inputtilt_interpolated;
 
     // Smoothen changes in tilt angle by ramping the step size
-    if (d->float_conf.inputtilt_smoothing_factor > 0) {
-        float smoothing_factor = 0.02;
-        for (int i = 1; i < d->float_conf.inputtilt_smoothing_factor; i++) {
-            smoothing_factor /= 2;
-        }
-
-        // Sets the angle away from Target that step size begins ramping down
-        float smooth_center_window = 1.5 + (0.5 * d->float_conf.inputtilt_smoothing_factor);
-
-        // Within X degrees of Target Angle, start ramping down step size
-        if (fabsf(input_tiltback_target_diff) < smooth_center_window) {
-            // Target step size is reduced the closer to center you are (needed for smoothly
-            // transitioning away from center)
-            d->inputtilt_ramped_step_size =
-                (smoothing_factor * d->inputtilt_step_size * (input_tiltback_target_diff / 2)) +
-                ((1 - smoothing_factor) * d->inputtilt_ramped_step_size);
-            // Linearly ramped down step size is provided as minimum to prevent overshoot
-            float centering_step_size =
-                fminf(
-                    fabsf(d->inputtilt_ramped_step_size),
-                    fabsf(input_tiltback_target_diff / 2) * d->inputtilt_step_size
-                ) *
-                sign(input_tiltback_target_diff);
-            if (fabsf(input_tiltback_target_diff) < fabsf(centering_step_size)) {
-                d->inputtilt_interpolated = input_tiltback_target;
-            } else {
-                d->inputtilt_interpolated += centering_step_size;
-            }
-        } else {
-            // Ramp up step size until the configured tilt speed is reached
-            d->inputtilt_ramped_step_size =
-                (smoothing_factor * d->inputtilt_step_size * sign(input_tiltback_target_diff)) +
-                ((1 - smoothing_factor) * d->inputtilt_ramped_step_size);
-            d->inputtilt_interpolated += d->inputtilt_ramped_step_size;
-        }
-    } else {
-        // Constant step size; no smoothing
-        if (fabsf(input_tiltback_target_diff) < d->inputtilt_step_size) {
+    const float smoothing_factor = 0.02;
+
+    // Within X degrees of Target Angle, start ramping down step size
+    if (fabsf(input_tiltback_target_diff) < 2.0f) {
+        // Target step size is reduced the closer to center you are (needed for smoothly
+        // transitioning away from center)
+        d->inputtilt_ramped_step_size =
+            (smoothing_factor * d->inputtilt_step_size * (input_tiltback_target_diff / 2)) +
+            ((1 - smoothing_factor) * d->inputtilt_ramped_step_size);
+        // Linearly ramped down step size is provided as minimum to prevent overshoot
+        float centering_step_size =
+            fminf(
+                fabsf(d->inputtilt_ramped_step_size),
+                fabsf(input_tiltback_target_diff / 2) * d->inputtilt_step_size
+            ) *
+            sign(input_tiltback_target_diff);
+        if (fabsf(input_tiltback_target_diff) < fabsf(centering_step_size)) {
             d->inputtilt_interpolated = input_tiltback_target;
         } else {
-            d->inputtilt_interpolated += d->inputtilt_step_size * sign(input_tiltback_target_diff);
+            d->inputtilt_interpolated += centering_step_size;
         }
+    } else {
+        // Ramp up step size until the configured tilt speed is reached
+        d->inputtilt_ramped_step_size =
+            (smoothing_factor * d->inputtilt_step_size * sign(input_tiltback_target_diff)) +
+            ((1 - smoothing_factor) * d->inputtilt_ramped_step_size);
+        d->inputtilt_interpolated += d->inputtilt_ramped_step_size;
     }
 
     d->setpoint += d->inputtilt_interpolated;