remove gesture pid-tunning

src/config/config.h

@@ -257,13 +257,6 @@
 // *************0- 15 range
 #define LED_BRIGHTNESS 15
 
-// *************Comment out to disable pid tuning gestures - originally created by SilverAG
-#define PID_GESTURE_TUNING
-// *************Comment out to adjust each axis individually - otherwise they move at the same time
-#define COMBINE_PITCH_ROLL_PID_TUNING
-// *************Feel free to change 1.0 value to your liking
-#define PID_TUNING_ADJUST_AMOUNT 1.0 // fixed inc/dec values for PID tuning
-
 // x (micro)seconds after loss of tx or low bat before buzzer starts
 #define BUZZER_DELAY 30e6
 

src/flight/gesture_detect.c

@@ -53,13 +53,6 @@ static const uint8_t commands[GESTURE_MAX][GSIZE] = {
     [GESTURE_RRR] = {GESTURE_CENTER_IDLE, GESTURE_RIGHT, GESTURE_CENTER, GESTURE_RIGHT, GESTURE_CENTER, GESTURE_RIGHT, GESTURE_CENTER},
     // Refresh OSD
     [GESTURE_LRL] = {GESTURE_CENTER_IDLE, GESTURE_LEFT, GESTURE_CENTER, GESTURE_RIGHT, GESTURE_CENTER, GESTURE_LEFT, GESTURE_CENTER},
-
-#ifdef PID_GESTURE_TUNING
-    [GESTURE_UDU] = {GESTURE_CENTER_IDLE, GESTURE_UP, GESTURE_CENTER, GESTURE_DOWN, GESTURE_CENTER, GESTURE_UP, GESTURE_CENTER},
-    [GESTURE_UDD] = {GESTURE_CENTER_IDLE, GESTURE_UP, GESTURE_CENTER, GESTURE_DOWN, GESTURE_CENTER, GESTURE_DOWN, GESTURE_CENTER},
-    [GESTURE_UDR] = {GESTURE_CENTER_IDLE, GESTURE_UP, GESTURE_CENTER, GESTURE_DOWN, GESTURE_CENTER, GESTURE_RIGHT, GESTURE_CENTER},
-    [GESTURE_UDL] = {GESTURE_CENTER_IDLE, GESTURE_UP, GESTURE_CENTER, GESTURE_DOWN, GESTURE_CENTER, GESTURE_LEFT, GESTURE_CENTER},
-#endif
 };
 
 static const uint8_t osd_commands[OSD_INPUT_MAX][OSD_GSIZE] = {

src/flight/gestures.c

@@ -11,7 +11,7 @@
 #include "util/util.h"
 
 void gestures() {
-  static bool pid_gestures_used = false;
+  static bool skip_calib = false;
 
   const int32_t command = gestures_detect();
   if (command == GESTURE_NONE) {
@@ -25,30 +25,24 @@ void gestures() {
   switch (command) {
   case GESTURE_DDD: {
     // skip accel calibration if pid gestures used
-    if (!pid_gestures_used) {
+    if (!skip_calib) {
       sixaxis_gyro_cal(); // for flashing lights
       sixaxis_acc_cal();
     } else {
       led_flash();
-      pid_gestures_used = false;
+      skip_calib = false;
     }
 
     flash_save();
     flash_load();
 
-    // reset flash numbers
-    extern int number_of_increments[3][3];
-    for (int i = 0; i < 3; i++)
-      for (int j = 0; j < 3; j++)
-        number_of_increments[i][j] = 0;
-
     // reset loop time
     looptime_reset();
     break;
   }
   case GESTURE_UUU: {
     bind_storage.bind_saved = !bind_storage.bind_saved;
-    pid_gestures_used = true;
+    skip_calib = true;
     led_flash();
     break;
   }
@@ -72,51 +66,5 @@ void gestures() {
       ;
     break;
   }
-#ifdef PID_GESTURE_TUNING
-  case GESTURE_UDU: {
-    // Cycle to next pid term (P I D)
-    const uint8_t index = next_pid_term();
-    if (index) {
-      led_blink(index);
-    } else {
-      led_flash();
-    }
-    pid_gestures_used = true;
-    break;
-  }
-  case GESTURE_UDD: {
-    // Cycle to next axis (Roll Pitch Yaw)
-    const uint8_t index = next_pid_axis();
-    if (index) {
-      led_blink(index);
-    } else {
-      led_flash();
-    }
-    pid_gestures_used = true;
-    break;
-  }
-  case GESTURE_UDR: {
-    // Increase by 10%
-    const uint8_t index = increase_pid();
-    if (index) {
-      led_blink(index);
-    } else {
-      led_flash();
-    }
-    pid_gestures_used = true;
-    break;
-  }
-  case GESTURE_UDL: {
-    // Descrease by 10%
-    const uint8_t index = decrease_pid();
-    if (index) {
-      led_blink(index);
-    } else {
-      led_flash();
-    }
-    pid_gestures_used = true;
-    break;
-  }
-#endif
   }
 }

src/flight/gestures.h

@@ -13,12 +13,6 @@ typedef enum {
   GESTURE_RRD,
   GESTURE_RRR,
   GESTURE_LRL,
-#ifdef PID_GESTURE_TUNING
-  GESTURE_UDU,
-  GESTURE_UDD,
-  GESTURE_UDR,
-  GESTURE_UDL,
-#endif
   GESTURE_MAX,
 } gestures_t;
 

src/flight/pid.c

@@ -23,10 +23,6 @@ extern profile_t profile;
 
 float timefactor;
 
-int number_of_increments[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-int current_pid_axis = 0;
-int current_pid_term = 0;
-
 // "p term setpoint weighting" 0.0 - 1.0 where 1.0 = normal pid
 static const float setpoint_weigth_brushed[3] = {0.93, 0.93, 0.9}; // BRUSHED FREESTYLE
 // float setpoint_weigth_brushed[3] = { 0.97 , 0.98 , 0.95};   //BRUSHED RACE
@@ -274,95 +270,3 @@ void pid_calc() {
   pid(1);
   pid(2);
 }
-
-// below are functions used with gestures for changing pids by a percentage
-
-// Cycle through P / I / D - The initial value is P
-// The return value is the currently selected TERM (after setting the next one)
-// 1: P
-// 2: I
-// 3: D
-// The return value is used to blink the leds in main.c
-int next_pid_term() {
-  current_pid_term++;
-  if (current_pid_term == 3) {
-    current_pid_term = 0;
-  }
-  return current_pid_term + 1;
-}
-
-vec3_t *current_pid_term_pointer() {
-  switch (current_pid_term) {
-  case 0:
-    return &profile_current_pid_rates()->kp;
-  case 1:
-    return &profile_current_pid_rates()->ki;
-  case 2:
-    return &profile_current_pid_rates()->kd;
-  }
-  return &profile_current_pid_rates()->kp;
-}
-
-// Cycle through the axis - Initial is Roll
-// Return value is the selected axis, after setting the next one.
-// 1: Roll
-// 2: Pitch
-// 3: Yaw
-// The return value is used to blink the leds in main.c
-int next_pid_axis() {
-  const int size = 3;
-  if (current_pid_axis == size - 1) {
-    current_pid_axis = 0;
-  } else {
-#ifdef COMBINE_PITCH_ROLL_PID_TUNING
-    if (current_pid_axis < 2) {
-      // Skip axis == 1 which is roll, and go directly to 2 (Yaw)
-      current_pid_axis = 2;
-    }
-#else
-    current_pid_axis++;
-#endif
-  }
-
-  return current_pid_axis + 1;
-}
-
-float adjust_rounded_pid(float input, float adjust_amount) {
-  const float value = (int)(input * 100.0f + 0.5f);
-  const float result = (float)(value + (100.0f * adjust_amount)) / 100.0f;
-
-  if ((int)(result * 100.0f) <= 0)
-    return 0;
-
-  return result;
-}
-
-int change_pid_value(int increase) {
-  float pid_adjustment = (float)PID_TUNING_ADJUST_AMOUNT;
-  if (increase) {
-    number_of_increments[current_pid_term][current_pid_axis]++;
-  } else {
-    number_of_increments[current_pid_term][current_pid_axis]--;
-    pid_adjustment = -pid_adjustment;
-  }
-
-  current_pid_term_pointer()->axis[current_pid_axis] = adjust_rounded_pid(current_pid_term_pointer()->axis[current_pid_axis], pid_adjustment);
-
-#ifdef COMBINE_PITCH_ROLL_PID_TUNING
-  if (current_pid_axis == 0)
-    current_pid_term_pointer()->axis[current_pid_axis + 1] = adjust_rounded_pid(current_pid_term_pointer()->axis[current_pid_axis + 1], pid_adjustment);
-#endif
-  return abs(number_of_increments[current_pid_term][current_pid_axis]);
-}
-
-// Increase currently selected term, for the currently selected axis, (by functions above) by 1 point
-// The return value, is absolute number of times the specific term/axis was increased or decreased.  For example, if P for Roll was increased by 1 point twice,
-// And then reduced by 1 point 3 times, the return value would be 1  -  The user has to track if the overall command was increase or decrease
-int increase_pid() {
-  return change_pid_value(1);
-}
-
-// Same as increase_pid but... you guessed it... decrease!
-int decrease_pid() {
-  return change_pid_value(0);
-}

src/flight/pid.h

@@ -5,8 +5,3 @@ void rotateErrors();
 void pid_init();
 void pid_precalc();
 void pid_calc();
-
-int next_pid_term(); // Return value : 0 - p, 1 - i, 2 - d
-int next_pid_axis(); // Return value : 0 - Roll, 1 - Pitch, 2 - Yaw
-int increase_pid();
-int decrease_pid();

src/osd/render.c

@@ -274,12 +274,6 @@ void osd_save_exit() {
   flash_save();
   flash_load();
 
-  // reset flash numbers for pids
-  extern int number_of_increments[3][3];
-  for (int i = 0; i < 3; i++)
-    for (int j = 0; j < 3; j++)
-      number_of_increments[i][j] = 0;
-
   // reset loop time - maybe not necessary cause it gets reset in the next screen clear
   looptime_reset();
 

src/rx/frsky_d8.c

@@ -14,7 +14,7 @@
 
 // these will get absimal range without pa/lna
 #define FRSKY_ENABLE_TELEMETRY
-#define FRSKY_ENABLE_HUB_TELEMETRY
+// #define FRSKY_ENABLE_HUB_TELEMETRY
 
 #define FRSKY_D8_CHANNEL_COUNT 8
 #define FRSKY_D8_HUB_FIRST_USER_ID 0x31
@@ -113,46 +113,7 @@ static uint8_t frsky_d8_hub_encode(uint8_t *buf, uint8_t data) {
 }
 
 static uint8_t frsky_d8_append_hub_telemetry(uint8_t telemetry_id, uint8_t *buf) {
-  static uint8_t pid_axis = 0;
-  extern vec3_t *current_pid_term_pointer();
-
-  extern int current_pid_term;
-  extern int current_pid_axis;
-
-  uint8_t size = 0;
-  buf[size++] = 0;
-  buf[size++] = telemetry_id;
-
-  if (pid_axis >= 3) {
-    const int16_t term = current_pid_term;
-    const int16_t axis = current_pid_axis;
-
-    buf[size++] = 0x5E;
-    buf[size++] = FRSKY_D8_HUB_FIRST_USER_ID + 0;
-    buf[size++] = (uint8_t)(term & 0xff);
-    buf[size++] = (uint8_t)(term >> 8);
-    buf[size++] = 0x5E;
-    buf[size++] = 0x5E;
-    buf[size++] = FRSKY_D8_HUB_FIRST_USER_ID + 1;
-    buf[size++] = (uint8_t)(axis & 0xff);
-    buf[size++] = (uint8_t)(axis >> 8);
-    buf[size++] = 0x5E;
-
-    pid_axis = 0;
-  } else {
-    const int16_t pidk = (int16_t)(current_pid_term_pointer()->axis[pid_axis] * 1000);
-    buf[size++] = 0x5E;
-    buf[size++] = FRSKY_D8_HUB_FIRST_USER_ID + 2 + pid_axis;
-    size += frsky_d8_hub_encode(buf + size, (uint8_t)(pidk & 0xff));
-    size += frsky_d8_hub_encode(buf + size, (uint8_t)(pidk >> 8));
-    buf[size++] = 0x5E;
-
-    pid_axis++;
-  }
-
-  // write size
-  buf[0] = size - 2;
-  return size;
+  return 0;
 }
 #endif