rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Working Fix for increased Expo precision by factor 5

This commit is contained in:
borisbstyle 2016-05-06 20:34:53 +02:00
parent 7dbab96d99
commit 0af66353a4
3 changed files with 17 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
src/main/io/rc_curves.c
View File

@ -34,17 +34,23 @@ int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & m
void generatePitchRollCurve(controlRateConfig_t *controlRateConfig)
{
uint8_t i;
float j = 0;
for (i = 0; i < PITCH_LOOKUP_LENGTH; i++)
lookupPitchRollRC[i] = (2500 + controlRateConfig->rcExpo8 * (i * i - 25)) * i * (int32_t) controlRateConfig->rcRate8 / 2500;
for (i = 0; i < PITCH_LOOKUP_LENGTH; i++) {
lookupPitchRollRC[i] = (2500 + controlRateConfig->rcExpo8 * (j * j - 25)) * j * (int32_t) controlRateConfig->rcRate8 / 2500;
j += 0.2f;
}
}
void generateYawCurve(controlRateConfig_t *controlRateConfig)
{
uint8_t i;
float j = 0;
for (i = 0; i < YAW_LOOKUP_LENGTH; i++)
lookupYawRC[i] = (2500 + controlRateConfig->rcYawExpo8 * (i * i - 25)) * i / 25;
for (i = 0; i < YAW_LOOKUP_LENGTH; i++) {
lookupYawRC[i] = (2500 + controlRateConfig->rcYawExpo8 * (j * j - 25)) * j / 25;
j += 0.2f;
}
}
void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoConfig_t *escAndServoConfig)

6
src/main/io/rc_curves.h
View File

@ -17,9 +17,9 @@
#pragma once
#define PITCH_LOOKUP_LENGTH 25
#define YAW_LOOKUP_LENGTH 25
#define THROTTLE_LOOKUP_LENGTH 16
#define PITCH_LOOKUP_LENGTH 31
#define YAW_LOOKUP_LENGTH 31
#define THROTTLE_LOOKUP_LENGTH 12
extern int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH]; // lookup table for expo & RC rate PITCH+ROLL
extern int16_t lookupYawRC[YAW_LOOKUP_LENGTH]; // lookup table for expo & RC rate YAW
extern int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE

8
src/main/mw.c
View File

@ -247,8 +247,8 @@ void annexCode(void)
}
}
tmp2 = tmp / 100;
rcCommand[axis] = lookupPitchRollRC[tmp2] + (tmp - tmp2 * 100) * (lookupPitchRollRC[tmp2 + 1] - lookupPitchRollRC[tmp2]) / 100;
tmp2 = tmp / 20;
rcCommand[axis] = lookupPitchRollRC[tmp2] + (tmp - tmp2 * 20) * (lookupPitchRollRC[tmp2 + 1] - lookupPitchRollRC[tmp2]) / 20;
} else if (axis == YAW) {
if (masterConfig.rcControlsConfig.yaw_deadband) {
if (tmp > masterConfig.rcControlsConfig.yaw_deadband) {
@ -257,8 +257,8 @@ void annexCode(void)
tmp = 0;
}
}
tmp2 = tmp / 100;
rcCommand[axis] = (lookupYawRC[tmp2] + (tmp - tmp2 * 100) * (lookupYawRC[tmp2 + 1] - lookupYawRC[tmp2]) / 100) * -masterConfig.yaw_control_direction;
tmp2 = tmp / 20;
rcCommand[axis] = (lookupYawRC[tmp2] + (tmp - tmp2 * 20) * (lookupYawRC[tmp2 + 1] - lookupYawRC[tmp2]) / 20) * -masterConfig.yaw_control_direction;
}
// non coupled PID reduction scaler used in PID controller 1 and PID controller 2.