Merge pull request iNavFlight#9957 from iNavFlight/dzikuvx-ez-tune-sn…

…appiness Ez Tune snappiness
b14ckyy · Apr 21, 2024 · 8d970cc · 8d970cc
2 parents 1ef428e + b317a66
commit 8d970cc
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Showing 5 changed files with 40 additions and 14 deletions.
diff --git a/docs/Settings.md b/docs/Settings.md
@@ -932,6 +932,16 @@ EzTune response
 
 ---
 
+### ez_snappiness
+
+EzTune snappiness
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 100 |
+
+---
+
 ### ez_stability
 
 EzTune stability

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
@@ -1652,6 +1652,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             sbufWriteU8(dst, ezTune()->aggressiveness);
             sbufWriteU8(dst, ezTune()->rate);
             sbufWriteU8(dst, ezTune()->expo);
+            sbufWriteU8(dst, ezTune()->snappiness);
         }
         break;
 #endif
@@ -3256,21 +3257,25 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
     case MSP2_INAV_EZ_TUNE_SET:
         {
-            if (dataSize == 10) {
-                ezTuneMutable()->enabled = sbufReadU8(src);
-                ezTuneMutable()->filterHz = sbufReadU16(src);
-                ezTuneMutable()->axisRatio = sbufReadU8(src);
-                ezTuneMutable()->response = sbufReadU8(src);
-                ezTuneMutable()->damping = sbufReadU8(src);
-                ezTuneMutable()->stability = sbufReadU8(src);
-                ezTuneMutable()->aggressiveness = sbufReadU8(src);
-                ezTuneMutable()->rate = sbufReadU8(src);
-                ezTuneMutable()->expo = sbufReadU8(src);
-
-                ezTuneUpdate();
-            } else {
+
+            if (dataSize < 10 || dataSize > 11) {
                 return MSP_RESULT_ERROR;
             }
+
+            ezTuneMutable()->enabled = sbufReadU8(src);
+            ezTuneMutable()->filterHz = sbufReadU16(src);
+            ezTuneMutable()->axisRatio = sbufReadU8(src);
+            ezTuneMutable()->response = sbufReadU8(src);
+            ezTuneMutable()->damping = sbufReadU8(src);
+            ezTuneMutable()->stability = sbufReadU8(src);
+            ezTuneMutable()->aggressiveness = sbufReadU8(src);
+            ezTuneMutable()->rate = sbufReadU8(src);
+            ezTuneMutable()->expo = sbufReadU8(src);
+
+            if (dataSize == 11) {
+                ezTuneMutable()->snappiness = sbufReadU8(src);
+            }
+            ezTuneUpdate();
         }
         break;
 

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
@@ -1555,6 +1555,12 @@ groups:
         field: expo
         min: 0
         max: 200
+      - name: ez_snappiness
+        description: "EzTune snappiness"
+        default_value: 0
+        field: snappiness
+        min: 0
+        max: 100
 
   - name: PG_RPM_FILTER_CONFIG
     headers: ["flight/rpm_filter.h"]

diff --git a/src/main/flight/ez_tune.c b/src/main/flight/ez_tune.c
@@ -36,7 +36,7 @@
 
 #include "rx/rx.h"
 
-PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(ezTuneSettings_t, ezTune, PG_EZ_TUNE, 0);
+PG_REGISTER_PROFILE_WITH_RESET_TEMPLATE(ezTuneSettings_t, ezTune, PG_EZ_TUNE, 1);
 
 PG_RESET_TEMPLATE(ezTuneSettings_t, ezTune,
     .enabled = SETTING_EZ_ENABLED_DEFAULT,
@@ -48,6 +48,7 @@ PG_RESET_TEMPLATE(ezTuneSettings_t, ezTune,
     .aggressiveness = SETTING_EZ_AGGRESSIVENESS_DEFAULT,
     .rate = SETTING_EZ_RATE_DEFAULT,
     .expo = SETTING_EZ_EXPO_DEFAULT,
+    .snappiness = SETTING_EZ_SNAPPINESS_DEFAULT,
 );
 
 #define EZ_TUNE_PID_RP_DEFAULT { 40, 75, 23, 100 }
@@ -142,5 +143,8 @@ void ezTuneUpdate(void) {
         ((controlRateConfig_t*)currentControlRateProfile)->stabilized.rcExpo8 = scaleRange(ezTune()->rate, 0, 200, 40, 100);
         ((controlRateConfig_t*)currentControlRateProfile)->stabilized.rcYawExpo8 = scaleRange(ezTune()->rate, 0, 200, 40, 100);
 
+        //D-Boost snappiness
+        pidProfileMutable()->dBoostMin = scaleRangef(ezTune()->snappiness, 0, 100, 1.0f, 0.0f);
+
     }
 }
diff --git a/src/main/flight/ez_tune.h b/src/main/flight/ez_tune.h
@@ -36,6 +36,7 @@ typedef struct ezTuneSettings_s {
     uint8_t aggressiveness;
     uint8_t rate;
     uint8_t expo;
+    uint8_t snappiness;
 } ezTuneSettings_t;
 
 PG_DECLARE_PROFILE(ezTuneSettings_t, ezTune);