Improved initialisation order. Stopped calling pidInit before gyro detected #4218
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martinbudden
added
the
BUG
mikeller
reviewed
Sep 23, 2017
src/main/fc/config.c
Outdated
| @@ -342,6 +342,13 @@ void validateAndFixConfig(void) | |||
| #endif | |||
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| #ifndef USE_OSD_SLAVE | |||
| if (systemConfig()->activeRateProfile >= CONTROL_RATE_PROFILE_COUNT) {// sanity check | |||
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A space would be nice here. ;-)
src/main/fc/config.c
Outdated
| if (systemConfig()->activeRateProfile >= CONTROL_RATE_PROFILE_COUNT) {// sanity check | ||
| systemConfigMutable()->activeRateProfile = 0; | ||
| } | ||
| if (systemConfig()->pidProfileIndex >= MAX_PROFILE_COUNT) {// sanity check |
hydra
reviewed
Sep 24, 2017
| @@ -267,7 +267,6 @@ static void setPidProfile(uint8_t pidProfileIndex) | |||
| if (pidProfileIndex < MAX_PROFILE_COUNT) { | |||
| systemConfigMutable()->pidProfileIndex = pidProfileIndex; | |||
| currentPidProfile = pidProfilesMutable(pidProfileIndex); | |||
| pidInit(currentPidProfile); // re-initialise pid controller to re-initialise filters and config | |||
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removing pidInit() from here will mean that when readEEPROM is called, after changing pid profile, e.g. using sticks, the pid and all the filters will not be correctly re-configured.
Check the call graph of setPidProfile:
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it feels like activateConfig() should call pidInit(), but that still won't fix the underlying problem on first boot.
martinbudden
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mikeller
reviewed
Sep 24, 2017
src/main/fc/config.c
Outdated
| @@ -594,19 +607,13 @@ void readEEPROM(void) | |||
| if (!loadEEPROM()) { | |||
| failureMode(FAILURE_INVALID_EEPROM_CONTENTS); | |||
| } | |||
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| validateAndFixConfig(); | |||
| validateAndFixGyroConfig(); | |||
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I think this has to be guarded by #ifndef USE_OSD_SLAVE.
mikeller
approved these changes
Sep 25, 2017
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Has this fix been added to RC6? I just upgraded to RC6 and bug is still present. |
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@VoicOfReason , this code has been added to RC6. Please could you describe the bug that you are still experiencing? |
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Flies level at liftoff and after hitting throttle or doing some maneuvers,
it flies slanted or tilted so bad that I have To crank stick sometime all
the day to keep it level. It gets progressively worse. If I land and
calibrate gyro it flies level again but then starts flying tilted again
soon. Tried swapping all motors, FC, and radio Rx but same problem. Fc
used: betaflight f3 and f7v2. I tried Adjusting add Lpf and add trim but
does nothing. Also turned on in flight add calib. Does nothing.
…On Tue, Oct 3, 2017 at 12:32 AM Martin Budden ***@***.***> wrote:
@VoicOfReason <https://github.com/voicofreason> , this code has been
added to RC6. Please could you describe the bug that you are still
experiencing?
—
You are receiving this because you were mentioned.
Reply to this email directly, view it on GitHub
<#4218 (comment)>,
or mute the thread
<https://github.com/notifications/unsubscribe-auth/AAq5OZoMjc3dtc96nipeBniUgGUt_jOpks5socDagaJpZM4PhqiB>
.
|
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Let me edit that post again:
Flies level at liftoff and after hitting throttle or doing some maneuvers,
it flies slanted or tilted so bad that I have To crank stick sometime all
the way to keep it level. It gets progressively worse. Sometimes it drift
severely to right and other times to the left. If I land and calibrate
gyro using stick command (left: low, low, right: center, down) it flies
level again but then starts flying tilted again soon, especially after big
throttle punches. However, sometimes when I tiled side to side I can watch
it get progressively worse in a matter of seconds to where it becomes
unflyable and dangerous.. Tried swapping all motors, FC, and radio Rx but
same problem. Fc's used: betaflight f3 and Omnibus f7v2. I tried Adjusting
ACC Lpf and ACC trim but does nothing. Also turned on in flight ACC calib.
Does nothing. I have a separate build (a GT200) with BFF3 that has the same
issue though not as bad, and that is a completely different frame, motors,
ESC's, etc.
…On Tue, Oct 3, 2017 at 7:10 AM, Peter Freund ***@***.***> wrote:
Flies level at liftoff and after hitting throttle or doing some maneuvers,
it flies slanted or tilted so bad that I have To crank stick sometime all
the day to keep it level. It gets progressively worse. If I land and
calibrate gyro it flies level again but then starts flying tilted again
soon. Tried swapping all motors, FC, and radio Rx but same problem. Fc
used: betaflight f3 and f7v2. I tried Adjusting add Lpf and add trim but
does nothing. Also turned on in flight add calib. Does nothing.
On Tue, Oct 3, 2017 at 12:32 AM Martin Budden ***@***.***>
wrote:
> @VoicOfReason <https://github.com/voicofreason> , this code has been
> added to RC6. Please could you describe the bug that you are still
> experiencing?
>
> —
> You are receiving this because you were mentioned.
> Reply to this email directly, view it on GitHub
> <#4218 (comment)>,
> or mute the thread
> <https://github.com/notifications/unsubscribe-auth/AAq5OZoMjc3dtc96nipeBniUgGUt_jOpks5socDagaJpZM4PhqiB>
> .
>
|
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This looks to be causing a double initialisation on FC boot: #4257 |
Merged
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Is this drifting issue now fixed and merged into a release? Would like to test it again |
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