Merge tag 'v3.1.2'

Makefile

@@ -595,7 +595,6 @@ COMMON_SRC = \
             fc/fc_msp.c \
             fc/fc_tasks.c \
             fc/rc_controls.c \
-            fc/rc_curves.c \
             fc/runtime_config.c \
             fc/cli.c \
             flight/altitudehold.c \

src/main/fc/cli.c

@@ -598,28 +598,28 @@ static const clivalue_t valueTable[] = {
     { "frsky_unit",                 VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &telemetryConfig()->frsky_unit, .config.lookup = { TABLE_UNIT } },
     { "frsky_vfas_precision",       VAR_UINT8  | MASTER_VALUE,  &telemetryConfig()->frsky_vfas_precision, .config.minmax = { FRSKY_VFAS_PRECISION_LOW,  FRSKY_VFAS_PRECISION_HIGH } },
     { "frsky_vfas_cell_voltage",    VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &telemetryConfig()->frsky_vfas_cell_voltage, .config.lookup = { TABLE_OFF_ON } },
-    { "hott_alarm_sound_int",       VAR_UINT8  | MASTER_VALUE,  &telemetryConfig()->hottAlarmSoundInterval, .config.minmax = { 0,  120 } },
+    { "hott_alarm_int",             VAR_UINT8  | MASTER_VALUE,  &telemetryConfig()->hottAlarmSoundInterval, .config.minmax = { 0,  120 } },
-    { "pid_in_telemetry",           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &telemetryConfig()->pidValuesAsTelemetry, .config.lookup = {TABLE_OFF_ON } },
+    { "pid_in_tlm",                 VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &telemetryConfig()->pidValuesAsTelemetry, .config.lookup = {TABLE_OFF_ON } },
 #if defined(TELEMETRY_IBUS)
     { "ibus_report_cell_voltage",   VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &ibusTelemetryConfig()->report_cell_voltage, .config.lookup = { TABLE_OFF_ON } },
 #endif
 #endif
 
-    { "vbat_capacity",              VAR_UINT16 | MASTER_VALUE,  &batteryConfig()->batteryCapacity, .config.minmax = { 0,  20000 } },
+    { "bat_capacity",               VAR_UINT16 | MASTER_VALUE,  &batteryConfig()->batteryCapacity, .config.minmax = { 0,  20000 } },
     { "vbat_scale",                 VAR_UINT8  | MASTER_VALUE,  &batteryConfig()->vbatscale, .config.minmax = { VBAT_SCALE_MIN,  VBAT_SCALE_MAX } },
     { "vbat_max_cell_voltage",      VAR_UINT8  | MASTER_VALUE,  &batteryConfig()->vbatmaxcellvoltage, .config.minmax = { 10,  50 } },
     { "vbat_min_cell_voltage",      VAR_UINT8  | MASTER_VALUE,  &batteryConfig()->vbatmincellvoltage, .config.minmax = { 10,  50 } },
     { "vbat_warning_cell_voltage",  VAR_UINT8  | MASTER_VALUE,  &batteryConfig()->vbatwarningcellvoltage, .config.minmax = { 10,  50 } },
     { "vbat_hysteresis",            VAR_UINT8  | MASTER_VALUE,  &batteryConfig()->vbathysteresis, .config.minmax = { 0,  250 } },
-    { "current_scale",              VAR_INT16  | MASTER_VALUE,  &batteryConfig()->currentMeterScale, .config.minmax = { -16000,  16000 } },
+    { "ibat_scale",                 VAR_INT16  | MASTER_VALUE,  &batteryConfig()->currentMeterScale, .config.minmax = { -16000,  16000 } },
-    { "current_offset",             VAR_INT16 | MASTER_VALUE,  &batteryConfig()->currentMeterOffset, .config.minmax = { -16000, 16000 } },
+    { "ibat_offset",                VAR_INT16 | MASTER_VALUE,  &batteryConfig()->currentMeterOffset, .config.minmax = { -16000, 16000 } },
-    { "mwii_current_output",        VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &batteryConfig()->multiwiiCurrentMeterOutput, .config.lookup = { TABLE_OFF_ON } },
+    { "mwii_ibat_output",           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &batteryConfig()->multiwiiCurrentMeterOutput, .config.lookup = { TABLE_OFF_ON } },
     { "current_meter_type",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &batteryConfig()->currentMeterType, .config.lookup = { TABLE_CURRENT_SENSOR } },
     { "battery_meter_type",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &batteryConfig()->batteryMeterType, .config.lookup = { TABLE_BATTERY_SENSOR } },
-    { "no_vbat_level",              VAR_UINT8  | MASTER_VALUE, &batteryConfig()->batterynotpresentlevel, .config.minmax = { 0, 200 } },
+    { "bat_detect_thresh",          VAR_UINT8  | MASTER_VALUE, &batteryConfig()->batterynotpresentlevel, .config.minmax = { 0, 200 } },
     { "use_vbat_alerts",            VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->useVBatAlerts, .config.lookup = { TABLE_OFF_ON } },
-    { "vbat_usage_alerts",          VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->useConsumptionAlerts, .config.lookup = { TABLE_OFF_ON } },
+    { "use_cbat_alerts",            VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &batteryConfig()->useConsumptionAlerts, .config.lookup = { TABLE_OFF_ON } },
-    { "vbat_usage_percent",         VAR_UINT8  | MASTER_VALUE, &batteryConfig()->consumptionWarningPercentage, .config.minmax = { 0, 100 } },
+    { "cbat_alert_percent",         VAR_UINT8  | MASTER_VALUE, &batteryConfig()->consumptionWarningPercentage, .config.minmax = { 0, 100 } },
     { "align_gyro",                 VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &gyroConfig()->gyro_align, .config.lookup = { TABLE_ALIGNMENT } },
     { "align_acc",                  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &accelerometerConfig()->acc_align, .config.lookup = { TABLE_ALIGNMENT } },
     { "align_mag",                  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &compassConfig()->mag_align, .config.lookup = { TABLE_ALIGNMENT } },
@@ -649,8 +649,8 @@ static const clivalue_t valueTable[] = {
     { "deadband",                   VAR_UINT8  | MASTER_VALUE, &rcControlsConfig()->deadband, .config.minmax = { 0,  32 } },
     { "yaw_deadband",               VAR_UINT8  | MASTER_VALUE, &rcControlsConfig()->yaw_deadband, .config.minmax = { 0,  100 } },
 
-    { "throttle_correct_value",     VAR_UINT8  | MASTER_VALUE, &throttleCorrectionConfig()->throttle_correction_value, .config.minmax = { 0,  150 } },
+    { "thr_corr_value",             VAR_UINT8  | MASTER_VALUE, &throttleCorrectionConfig()->throttle_correction_value, .config.minmax = { 0,  150 } },
-    { "throttle_correct_angle",     VAR_UINT16 | MASTER_VALUE, &throttleCorrectionConfig()->throttle_correction_angle, .config.minmax = { 1,  900 } },
+    { "thr_corr_angle",             VAR_UINT16 | MASTER_VALUE, &throttleCorrectionConfig()->throttle_correction_angle, .config.minmax = { 1,  900 } },
 
     { "yaw_control_direction",      VAR_INT8   | MASTER_VALUE,  &rcControlsConfig()->yaw_control_direction, .config.minmax = { -1,  1 } },
 
@@ -712,7 +712,7 @@ static const clivalue_t valueTable[] = {
     { "d_lowpass_type",             VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dterm_filter_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
     { "d_lowpass",                  VAR_INT16  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 16000 } },
     { "d_notch_hz",                 VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_hz, .config.minmax = { 0,  16000 } },
-    { "d_notch_cutoff",             VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_cutoff, .config.minmax = { 1,  16000 } },
+    { "d_notch_cut",                VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_cutoff, .config.minmax = { 1,  16000 } },
     { "vbat_pid_gain",              VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
     { "pid_at_min_throttle",        VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidAtMinThrottle, .config.lookup = { TABLE_OFF_ON } },
     { "anti_gravity_thresh",        VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleThreshold, .config.minmax = {20, 1000 } },

src/main/fc/config.c

@@ -60,7 +60,6 @@
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"
-#include "fc/rc_curves.h"
 #include "fc/runtime_config.h"
 
 #include "flight/altitudehold.h"
@@ -181,11 +180,11 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->levelAngleLimit = 55;
     pidProfile->levelSensitivity = 55;
     pidProfile->setpointRelaxRatio = 30;
-    pidProfile->dtermSetpointWeight = 200;
+    pidProfile->dtermSetpointWeight = 190;
     pidProfile->yawRateAccelLimit = 10.0f;
     pidProfile->rateAccelLimit = 0.0f;
-    pidProfile->itermThrottleThreshold = 300;
+    pidProfile->itermThrottleThreshold = 350;
-    pidProfile->itermAcceleratorGain = 3.0f;
+    pidProfile->itermAcceleratorGain = 1.5f;
     pidProfile->itermAcceleratorRateLimit = 80;
 }
 
@@ -887,15 +886,8 @@ void resetConfigs(void)
 #endif
 }
 
-void activateControlRateConfig(void)
-{
-    generateThrottleCurve(currentControlRateProfile, &masterConfig.motorConfig);
-}
-
 void activateConfig(void)
 {
-    activateControlRateConfig();
-
     resetAdjustmentStates();
 
     useRcControlsConfig(
@@ -1205,7 +1197,6 @@ void changeControlRateProfile(uint8_t profileIndex)
         profileIndex = MAX_RATEPROFILES - 1;
     }
     setControlRateProfile(profileIndex);
-    activateControlRateConfig();
 }
 
 void beeperOffSet(uint32_t mask)

src/main/fc/fc_core.c

@@ -47,7 +47,6 @@
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"
-#include "fc/rc_curves.h"
 #include "fc/runtime_config.h"
 #include "fc/cli.h"
 #include "fc/fc_rc.h"

src/main/fc/fc_rc.c

@@ -17,6 +17,7 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <math.h>
 
 #include "platform.h"
 
@@ -29,7 +30,6 @@
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"
-#include "fc/rc_curves.h"
 #include "fc/runtime_config.h"
 #include "fc/fc_rc.h"
 #include "fc/fc_core.h"
@@ -266,7 +266,14 @@ void updateRcCommands(void)
         tmp = constrain(rcData[THROTTLE], rxConfig()->mincheck, PWM_RANGE_MAX);
         tmp = (uint32_t)(tmp - rxConfig()->mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - rxConfig()->mincheck);
     }
-    rcCommand[THROTTLE] = rcLookupThrottle(tmp);
+
+    if (currentControlRateProfile->thrExpo8) {
+        float expof = currentControlRateProfile->thrExpo8 / 100.0f;
+        float tmpf = (tmp  / (PWM_RANGE_MAX - PWM_RANGE_MIN));
+        tmp = lrintf(tmp * sq(tmpf) * expof + tmp * (1-expof));
+    }
+
+    rcCommand[THROTTLE] = tmp + (PWM_RANGE_MAX - PWM_RANGE_MIN);
 
     if (feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH) && !failsafeIsActive()) {
         fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);

src/main/fc/rc_controls.c

@@ -39,7 +39,6 @@
 #include "fc/config.h"
 #include "fc/fc_core.h"
 #include "fc/rc_controls.h"
-#include "fc/rc_curves.h"
 #include "fc/runtime_config.h"
 
 #include "io/gps.h"
@@ -526,7 +525,6 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
         case ADJUSTMENT_THROTTLE_EXPO:
             newValue = constrain((int)controlRateConfig->thrExpo8 + delta, 0, 100); // FIXME magic numbers repeated in cli.c
             controlRateConfig->thrExpo8 = newValue;
-            generateThrottleCurve(controlRateConfig, motorConfig);
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_THROTTLE_EXPO, newValue);
         break;
         case ADJUSTMENT_PITCH_ROLL_RATE: