add to osd

Author: Quick-Flash

src/main/cli/settings.c

@@ -1072,10 +1072,10 @@ const clivalue_t valueTable[] = {
     { "dterm_lpf1_dyn_expo",        VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 10 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf1_dyn_expo) },
 #endif
     { PARAM_NAME_DTERM_LPF1_TYPE,       VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DTERM_LPF_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf1_type) },
-    { "dterm_lpf1_biquad_q",            VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 10 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf1_biquad_q) },
+    { "dterm_lpf1_biquad_q",            VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 1, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf1_biquad_q) },
     { PARAM_NAME_DTERM_LPF1_STATIC_HZ,  VAR_INT16  | PROFILE_VALUE, .config.minmax = { 0, LPF_MAX_HZ }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf1_static_hz) },
     { PARAM_NAME_DTERM_LPF2_TYPE,       VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DTERM_LPF_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf2_type) },
-    { "dterm_lpf2_biquad_q",            VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 10 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf2_biquad_q) },
+    { "dterm_lpf2_biquad_q",            VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 1, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf2_biquad_q) },
     { PARAM_NAME_DTERM_LPF2_STATIC_HZ,  VAR_INT16  | PROFILE_VALUE, .config.minmax = { 0, LPF_MAX_HZ }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf2_static_hz) },
     { PARAM_NAME_DTERM_NOTCH_HZ,        VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, LPF_MAX_HZ }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_notch_hz) },
     { PARAM_NAME_DTERM_NOTCH_CUTOFF,    VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, LPF_MAX_HZ }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_notch_cutoff) },
@@ -1702,7 +1702,6 @@ const clivalue_t valueTable[] = {
 #ifdef USE_RPM_FILTER
     { PARAM_NAME_RPM_FILTER_HARMONICS,     VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 3 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, rpm_filter_harmonics) },
     { PARAM_NAME_RPM_FILTER_Q,             VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 250, 3000 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, rpm_filter_q) },
-    { PARAM_NAME_RPM_FILTER_Q,             VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 1, 255 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, noise_limit) },
     { PARAM_NAME_RPM_FILTER_MIN_HZ,        VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 30, 200 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, rpm_filter_min_hz) },
     { PARAM_NAME_RPM_FILTER_FADE_RANGE_HZ, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, rpm_filter_fade_range_hz) },
     { PARAM_NAME_RPM_FILTER_LPF_HZ,        VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 100, 500 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, rpm_filter_lpf_hz) },

src/main/cms/cms_menu_imu.c

@@ -862,7 +862,9 @@ static CMS_Menu cmsx_menuDynFilt = {
 #endif
 
 static uint16_t cmsx_dterm_lpf1_static_hz;
+static uint8_t  cmsx_dterm_lpf1_q;
 static uint16_t cmsx_dterm_lpf2_static_hz;
+static uint8_t  cmsx_dterm_lpf2_q;
 static uint16_t cmsx_dterm_notch_hz;
 static uint16_t cmsx_dterm_notch_cutoff;
 static uint16_t cmsx_yaw_lowpass_hz;
@@ -874,7 +876,9 @@ static const void *cmsx_FilterPerProfileRead(displayPort_t *pDisp)
     const pidProfile_t *pidProfile = pidProfiles(pidProfileIndex);
 
     cmsx_dterm_lpf1_static_hz   = pidProfile->dterm_lpf1_static_hz;
+    cmsx_dterm_lpf1_q           = pidProfile->dterm_lpf1_biquad_q;
     cmsx_dterm_lpf2_static_hz   = pidProfile->dterm_lpf2_static_hz;
+    cmsx_dterm_lpf2_q           = pidProfile->dterm_lpf2_biquad_q;
     cmsx_dterm_notch_hz         = pidProfile->dterm_notch_hz;
     cmsx_dterm_notch_cutoff     = pidProfile->dterm_notch_cutoff;
     cmsx_yaw_lowpass_hz         = pidProfile->yaw_lowpass_hz;
@@ -890,7 +894,9 @@ static const void *cmsx_FilterPerProfileWriteback(displayPort_t *pDisp, const OS
     pidProfile_t *pidProfile = currentPidProfile;
 
     pidProfile->dterm_lpf1_static_hz  = cmsx_dterm_lpf1_static_hz;
+    pidProfile->dterm_lpf1_biquad_q   = cmsx_dterm_lpf1_q;
     pidProfile->dterm_lpf2_static_hz  = cmsx_dterm_lpf2_static_hz;
+    pidProfile->dterm_lpf2_biquad_q   = cmsx_dterm_lpf2_q;
     pidProfile->dterm_notch_hz        = cmsx_dterm_notch_hz;
     pidProfile->dterm_notch_cutoff    = cmsx_dterm_notch_cutoff;
     pidProfile->yaw_lowpass_hz        = cmsx_yaw_lowpass_hz;
@@ -903,7 +909,9 @@ static const OSD_Entry cmsx_menuFilterPerProfileEntries[] =
     { "-- FILTER PP  --", OME_Label, NULL, NULL },
 
     { "DTERM LPF1", OME_UINT16 | SLIDER_DTERM, NULL, &(OSD_UINT16_t){ &cmsx_dterm_lpf1_static_hz, 0, LPF_MAX_HZ, 1 } },
+    { "LPF1 Q",     OME_UINT8,  NULL, &(OSD_UINT8_t){ &cmsx_dterm_lpf1_q,       0, 100, 1 } },
     { "DTERM LPF2", OME_UINT16 | SLIDER_DTERM, NULL, &(OSD_UINT16_t){ &cmsx_dterm_lpf2_static_hz, 0, LPF_MAX_HZ, 1 } },
+    { "LPF2 Q",     OME_UINT8,  NULL, &(OSD_UINT8_t){ &cmsx_dterm_lpf2_q,       0, 100, 1 } },
     { "DTERM NF",   OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_notch_hz,       0, LPF_MAX_HZ, 1 } },
     { "DTERM NFCO", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_notch_cutoff,   0, LPF_MAX_HZ, 1 } },
     { "YAW LPF",    OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_yaw_lowpass_hz,       0, 500, 1 } },

src/main/flight/pid.c

@@ -180,9 +180,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
             // reset the lowpass filter type to PT1 overriding the desired BIQUAD setting.
         .dterm_lpf2_static_hz = DTERM_LPF2_HZ_DEFAULT,   // second Dterm LPF ON by default
         .dterm_lpf1_type = FILTER_PT1,
-        .dterm_lpf1_biquad_q = 141,
+        .dterm_lpf1_biquad_q = 71,
         .dterm_lpf2_type = FILTER_PT1,
-        .dterm_lpf2_biquad_q = 141,
+        .dterm_lpf2_biquad_q = 71,
         .dterm_lpf1_dyn_min_hz = DTERM_LPF1_DYN_MIN_HZ_DEFAULT,
         .dterm_lpf1_dyn_max_hz = DTERM_LPF1_DYN_MAX_HZ_DEFAULT,
         .launchControlMode = LAUNCH_CONTROL_MODE_NORMAL,
@@ -1127,7 +1127,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
         if (feedforwardGain > 0) {
             // halve feedforward in Level mode since stick sensitivity is weaker by about half
             feedforwardGain *= FLIGHT_MODE(ANGLE_MODE) ? 0.5f : 1.0f;
-            // transition now calculated in feedforward.c when new RC data arrives 
+            // transition now calculated in feedforward.c when new RC data arrives
             float feedForward = feedforwardGain * pidSetpointDelta * pidRuntime.pidFrequency;
 
 #ifdef USE_FEEDFORWARD