update feedforward and dynamic idle debug headers and graphs for 4.3 #521

ctzsnooze · 2021-06-23T06:48:27Z

This PR fixes debug header naming issues.

It builds on #514 , and is intended to sync with changes in firmware betaflight/betaflight#10805, where the debugs are re-ordered and re-named.

The intent is to:

correctly set the feedforward debug field names for 4.1, 4.2 and 4.3
appended [roll] to each where values are from roll only
correctly set the FF_INTERPOLATED and FF_LIMIT debugs to be 'centered', and scales them usably
scale the (FF_INTERPOLATED but not smoothed) setpoint trace to match that of normal setpoint
for 4.3, makes the debug group name appear as Feedforward [roll] to match the firmware name as proposed in Feedforward fix at centre and renaming betaflight#10805
for dynamic idle, show the user's motor rotation speed as RPM, not RPS, since the value we target in the CLI is RPM, and RPM is more readily understood.
Scale dynamic idle RPM to show zero at the bottom of the graphic panel
Show dynamic idle PID values for 4.3, keeping the older names for 4.2, and scale the PID values an equal amount either side of centre, which makes them easier to interpret
It all works fine, as far as I can tell.

This images shows the various debugs, and how they can appear in 4.3 over betaflight/betaflight#10805

It is now quite easy to see the contribution made by boost to the overall feedforward signal, which is simply the rcSmoothed sum of delta and boost.

By overlaying the Setpoint, interpolated graph from this debug with normal setpoint we can:

identify the rcSmoothing delay, if any
determine if a 'gap' in normal setpoint is caused by not receiving a packet or by receiving a duplicate; a duplicate will cause a flat spot in plain setpoint but not in Setpoint, interpolated, whereas a non-received (dropped) packet causes a flat spot in both.

ctzsnooze · 2021-07-02T01:03:14Z

added graph scaling to properly display FF_LIMIT debug.

js/graph_config.js

js/flightlog_fields_presenter.js

ctzsnooze · 2021-07-04T21:54:56Z

This is how the feedforward section now appears in the log viewer header:

sonarqubecloud · 2021-07-05T16:20:03Z

SonarCloud Quality Gate failed.

0 Bugs
0 Vulnerabilities
0 Security Hotspots
10 Code Smells

No Coverage information
8.3% Duplication

ctzsnooze · 2021-07-05T16:20:48Z

Made the feedforward debug graphs and graph names properly sensitive to version changes.

ctzsnooze · 2021-07-09T08:50:07Z

Have tested this with 4.3 and 4.2 logs, should be OK with earlier logs.
Happy to squash for merging anytime, I think it is ready.
Don't know how to fix the SonarCloud issue.
Please merge #512 first.

github-actions · 2021-08-09T04:39:23Z

This pull request has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs within a week.

js/flightlog_fields_presenter.js

js/graph_config.js

blckmn · 2021-08-31T02:16:28Z

AUTOMERGE: (FAIL)

github identifies PR as mergeable -> FAIL
assigned to a milestone -> PASS
cooling off period lapsed -> PASS
commit count less or equal to three -> PASS
Don't merge label NOT found -> PASS
at least one RN: label found -> PASS
Tested label found -> FAIL
assigned to an approver -> FAIL
approver count at least three -> FAIL

mikeller · 2021-08-31T12:22:25Z

@haslinghuis: Are you ok with this now?

images/bf_logo_white.svg

ctzsnooze · 2021-09-01T00:12:12Z

Sorry for the late inclusion of changes for Dynamic Idle.
In 4.3 the dynamic idle debug was changed to show P, I and D values as opposed to the previous values.
The scaling of the graphs also should be changed, it was unpredictable previously, that has been fixed, making comparisons from one file to the next much easier.

haslinghuis · 2021-09-01T00:22:56Z

#512 should be merged before this.

ctzsnooze · 2021-09-03T12:01:59Z

rebased

sonarqubecloud · 2021-09-05T01:10:44Z

Kudos, SonarCloud Quality Gate passed!

0 Bugs
0 Vulnerabilities
0 Security Hotspots
8 Code Smells

No Coverage information
2.2% Duplication

ctzsnooze · 2021-09-05T01:15:53Z

Rebased and tested after merge of #512
Please let me know if there are any issues or changes, otherwise should be good to merge, so am removing the pinned label.

ctzsnooze · 2021-09-05T01:20:37Z

Dmin debug from 4.3

Dynamic idle debug with dyn_idle_min_rpm set to 5000, note the label for the fourth debug trace says Min RPM now and matches the set value.

ctzsnooze · 2021-10-27T07:39:38Z

Closed; all these 4.3 related changes are now in #539

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Updates to log viewer for 4.3 #512

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ctzsnooze changed the title ~~update feedforward field defs and graphs for 4.3~~ update feedforward and dynamic idle debug headers and graphs for 4.3 Sep 1, 2021

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fix debug headers and scaling for 4.3

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ctzsnooze requested review from mikeller and haslinghuis October 27, 2021 05:42

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4.3 field support #539

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ctzsnooze deleted the feedforward-field-names-and-graph-scaling branch December 28, 2021 20:50

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update feedforward and dynamic idle debug headers and graphs for 4.3 #521

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