src/main/config/simplified_tuning.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "flight/pid.h"
  24 #include "sensors/gyro.h"
  25
  26 #define SIMPLIFIED_TUNING_PIDS_MIN 0
  27 #define SIMPLIFIED_TUNING_FILTERS_MIN 10
  28 #define SIMPLIFIED_TUNING_MAX 200
  29 #define SIMPLIFIED_TUNING_DEFAULT 100
  30 #define SIMPLIFIED_TUNING_D_DEFAULT 100
  31
  32 typedef enum {
  33     PID_SIMPLIFIED_TUNING_OFF = 0,
  34     PID_SIMPLIFIED_TUNING_RP,
  35     PID_SIMPLIFIED_TUNING_RPY,
  36     PID_SIMPLIFIED_TUNING_MODE_COUNT,
  37 } pidSimplifiedTuningMode_e;
  38
  39 void applySimplifiedTuning(pidProfile_t *pidProfile, gyroConfig_t *gyroConfig);
  40
  41 void applySimplifiedTuningPids(pidProfile_t *pidProfile);
  42 void applySimplifiedTuningDtermFilters(pidProfile_t *pidProfile);
  43 void applySimplifiedTuningGyroFilters(gyroConfig_t *gyroConfig);
  44
  45 void disableSimplifiedTuning(pidProfile_t *pidProfile, gyroConfig_t *gyroConfig);