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Negative variable tiltback via negative rate #33

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Negative variable tiltback via negative rate #33

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4021580
Move some stuff from other functions to reconfigure()
lukash Dec 25, 2024
9dbee3e
Negative Variable Tiltback configured by negative rate
lukash Dec 25, 2024
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4 changes: 2 additions & 2 deletions src/conf/settings.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -809,7 +809,7 @@ p, li { white-space: pre-wrap; }
<editorScale>1</editorScale>
<editAsPercentage>0</editAsPercentage>
<maxDouble>5</maxDouble>
<minDouble>0</minDouble>
<minDouble>-5</minDouble>
<showDisplay>0</showDisplay>
<stepDouble>0.05</stepDouble>
<valDouble>0.1</valDouble>
Expand All @@ -831,7 +831,7 @@ p, li { white-space: pre-wrap; }
<editorScale>1</editorScale>
<editAsPercentage>0</editAsPercentage>
<maxDouble>20</maxDouble>
<minDouble>-20</minDouble>
<minDouble>0</minDouble>
<showDisplay>0</showDisplay>
<stepDouble>0.5</stepDouble>
<valDouble>0</valDouble>
Expand Down
69 changes: 15 additions & 54 deletions src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -261,6 +261,14 @@ void beep_on(data *d, bool force) {
}

static void reconfigure(data *d) {
d->turntilt_step_size = d->float_conf.turntilt_speed / d->float_conf.hertz;
d->startup_step_size = d->float_conf.startup_speed / d->float_conf.hertz;
d->noseangling_step_size = d->float_conf.noseangling_speed / d->float_conf.hertz;
d->startup_pitch_trickmargin = d->float_conf.startup_dirtylandings_enabled ? 10 : 0;
d->tiltback_variable = d->float_conf.tiltback_variable / 1000;
d->tiltback_variable_max_erpm =
fabsf(d->float_conf.tiltback_variable_max / d->tiltback_variable);

motor_data_configure(&d->motor, d->float_conf.atr_filter / d->float_conf.hertz);
balance_filter_configure(&d->balance_filter, &d->float_conf);
torque_tilt_configure(&d->torque_tilt, &d->float_conf);
Expand All @@ -281,21 +289,16 @@ static void configure(data *d) {
// Loop time in seconds times 20 for a nice long grace period
d->motor_timeout_s = 20.0f / d->float_conf.hertz;

d->startup_step_size = d->float_conf.startup_speed / d->float_conf.hertz;
d->tiltback_duty_step_size = d->float_conf.tiltback_duty_speed / d->float_conf.hertz;
d->tiltback_hv_step_size = d->float_conf.tiltback_hv_speed / d->float_conf.hertz;
d->tiltback_lv_step_size = d->float_conf.tiltback_lv_speed / d->float_conf.hertz;
d->tiltback_return_step_size = d->float_conf.tiltback_return_speed / d->float_conf.hertz;
d->turntilt_step_size = d->float_conf.turntilt_speed / d->float_conf.hertz;
d->noseangling_step_size = d->float_conf.noseangling_speed / d->float_conf.hertz;
d->inputtilt_step_size = d->float_conf.inputtilt_speed / d->float_conf.hertz;

// Feature: Stealthy start vs normal start (noticeable click when engaging) - 0-20A
d->start_counter_clicks_max = 3;
// Feature: Soft Start
d->softstart_ramp_step_size = (float) 100 / d->float_conf.hertz;
// Feature: Dirty Landings
d->startup_pitch_trickmargin = d->float_conf.startup_dirtylandings_enabled ? 10 : 0;

// Backwards compatibility hack:
// If mahony kp from the firmware internal filter is higher than 1, it's
Expand Down Expand Up @@ -339,15 +342,6 @@ static void configure(data *d) {
// Speed above which to warn users about an impending full switch fault
d->switch_warn_beep_erpm = d->float_conf.is_footbeep_enabled ? 2000 : 100000;

// Variable nose angle adjustment / tiltback (setting is per 1000erpm, convert to per erpm)
d->tiltback_variable = d->float_conf.tiltback_variable / 1000;
if (d->tiltback_variable > 0) {
d->tiltback_variable_max_erpm =
fabsf(d->float_conf.tiltback_variable_max / d->tiltback_variable);
} else {
d->tiltback_variable_max_erpm = 100000;
}

d->beeper_enabled = d->float_conf.is_beeper_enabled;

konami_init(&d->flywheel_konami, flywheel_konami_sequence, sizeof(flywheel_konami_sequence));
Expand Down Expand Up @@ -854,17 +848,11 @@ static void calculate_setpoint_target(data *d) {
}

static void apply_noseangling(data *d) {
// Nose angle adjustment, add variable then constant tiltback
float noseangling_target = 0;

// Variable Tiltback looks at ERPM from the reference point of the set minimum ERPM
float variable_erpm = fmaxf(0, d->motor.abs_erpm - d->float_conf.tiltback_variable_erpm);
if (variable_erpm > d->tiltback_variable_max_erpm) {
noseangling_target = d->float_conf.tiltback_variable_max * d->motor.erpm_sign;
} else {
noseangling_target = d->tiltback_variable * variable_erpm * d->motor.erpm_sign *
sign(d->float_conf.tiltback_variable_max);
}
// Variable Tiltback: looks at ERPM from the reference point of the set minimum ERPM
float variable_erpm = clampf(
d->motor.abs_erpm - d->float_conf.tiltback_variable_erpm, 0, d->tiltback_variable_max_erpm
);
float noseangling_target = d->tiltback_variable * variable_erpm * d->motor.erpm_sign;

if (d->motor.abs_erpm > d->float_conf.tiltback_constant_erpm) {
noseangling_target += d->float_conf.tiltback_constant * d->motor.erpm_sign;
Expand Down Expand Up @@ -1958,8 +1946,6 @@ static void cmd_runtime_tune(data *d, unsigned char *cfg, int len) {
if (h2 == 0) {
d->mc_current_min = fabsf(VESC_IF->get_cfg_float(CFG_PARAM_l_current_min));
}

d->turntilt_step_size = d->float_conf.turntilt_speed / d->float_conf.hertz;
}
if (len >= 16) {
split(cfg[12], &h1, &h2);
Expand Down Expand Up @@ -2049,20 +2035,6 @@ static void cmd_tune_defaults(data *d) {
d->float_conf.startup_simplestart_enabled = CFG_DFLT_SIMPLESTART_ENABLED;
d->float_conf.startup_dirtylandings_enabled = CFG_DFLT_DIRTYLANDINGS_ENABLED;

// Update values normally done in configure()
d->turntilt_step_size = d->float_conf.turntilt_speed / d->float_conf.hertz;

d->startup_step_size = d->float_conf.startup_speed / d->float_conf.hertz;
d->noseangling_step_size = d->float_conf.noseangling_speed / d->float_conf.hertz;
d->startup_pitch_trickmargin = d->float_conf.startup_dirtylandings_enabled ? 10 : 0;
d->tiltback_variable = d->float_conf.tiltback_variable / 1000;
if (d->tiltback_variable > 0) {
d->tiltback_variable_max_erpm =
fabsf(d->float_conf.tiltback_variable_max / d->tiltback_variable);
} else {
d->tiltback_variable_max_erpm = 100000;
}

reconfigure(d);
}

Expand Down Expand Up @@ -2101,7 +2073,6 @@ static void cmd_runtime_tune_other(data *d, unsigned char *cfg, int len) {
d->float_conf.startup_pushstart_enabled = ((flags & 0x80) == 0x80);

d->float_conf.is_beeper_enabled = d->beeper_enabled;
d->startup_pitch_trickmargin = dirty_landings ? 10 : 0;
d->float_conf.startup_dirtylandings_enabled = dirty_landings;

// startup
Expand All @@ -2111,7 +2082,6 @@ static void cmd_runtime_tune_other(data *d, unsigned char *cfg, int len) {
float brakecurrent = cfg[4];
float clickcurrent = cfg[5];

d->startup_step_size = ctrspeed / d->float_conf.hertz;
d->float_conf.startup_speed = ctrspeed;
d->float_conf.startup_pitch_tolerance = pitchtolerance / 10;
d->float_conf.startup_roll_tolerance = rolltolerance;
Expand All @@ -2129,21 +2099,10 @@ static void cmd_runtime_tune_other(data *d, unsigned char *cfg, int len) {
d->float_conf.tiltback_constant = tiltconst / 2;
d->float_conf.tiltback_constant_erpm = tilterpm;
if (tiltspeed > 0) {
d->noseangling_step_size = tiltspeed / 10 / d->float_conf.hertz;
d->float_conf.noseangling_speed = tiltspeed / 10;
}
d->float_conf.tiltback_variable = tiltvarrate / 100;
d->float_conf.tiltback_variable_max = tiltvarmax / 10;

d->startup_step_size = d->float_conf.startup_speed / d->float_conf.hertz;
d->noseangling_step_size = d->float_conf.noseangling_speed / d->float_conf.hertz;
d->tiltback_variable = d->float_conf.tiltback_variable / 1000;
if (d->tiltback_variable > 0) {
d->tiltback_variable_max_erpm =
fabsf(d->float_conf.tiltback_variable_max / d->tiltback_variable);
} else {
d->tiltback_variable_max_erpm = 100000;
}
d->float_conf.tiltback_variable_erpm = cfg[11] * 100;
}

Expand All @@ -2158,6 +2117,8 @@ static void cmd_runtime_tune_other(data *d, unsigned char *cfg, int len) {
}
}
}

reconfigure(d);
}

void cmd_rc_move(data *d, unsigned char *cfg) {
Expand Down
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