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Merge pull request #674 from sherlockflight/ratelimit-yaw 

Restore previous rate limit for yaw of 2.55
This commit is contained in:
Dominic Clifton 2015-03-26 00:34:33 +00:00
parent 4e07899a06 5edfdde942
commit 5d5e74ee70
2 changed files with 7 additions and 6 deletions
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6
src/main/io/rc_controls.h
View File

@ -103,10 +103,8 @@ typedef enum {
// Roll/pitch rates are a proportion used for mixing, so it tops out at 1.0: // Roll/pitch rates are a proportion used for mixing, so it tops out at 1.0:
#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX 100 #define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX 100
/* Meaningful yaw rates are effectively unbounded because they are treated as a rotation rate multiplier, /* Meaningful yaw rates are effectively unbounded because they are treated as a rotation rate multiplier: */
* but we'll limit it to 1.0: #define CONTROL_RATE_CONFIG_YAW_RATE_MAX 255
*/
#define CONTROL_RATE_CONFIG_YAW_RATE_MAX 100
#define CONTROL_RATE_CONFIG_TPA_MAX 100 #define CONTROL_RATE_CONFIG_TPA_MAX 100

7
src/main/io/serial_msp.c
View File

@ -1221,6 +1221,7 @@ static bool processInCommand(void)
{ {
uint32_t i; uint32_t i;
uint16_t tmp; uint16_t tmp;
uint8_t rate;
#ifdef GPS #ifdef GPS
uint8_t wp_no; uint8_t wp_no;
int32_t lat = 0, lon = 0, alt = 0; int32_t lat = 0, lon = 0, alt = 0;
@ -1331,9 +1332,11 @@ static bool processInCommand(void)
currentControlRateProfile->rcRate8 = read8(); currentControlRateProfile->rcRate8 = read8();
currentControlRateProfile->rcExpo8 = read8(); currentControlRateProfile->rcExpo8 = read8();
for (i = 0; i < 3; i++) { for (i = 0; i < 3; i++) {
currentControlRateProfile->rates[i] = MIN(read8(), i == FD_YAW ? CONTROL_RATE_CONFIG_YAW_RATE_MAX : CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX); rate = read8();
currentControlRateProfile->rates[i] = MIN(rate, i == FD_YAW ? CONTROL_RATE_CONFIG_YAW_RATE_MAX : CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
} }
currentControlRateProfile->dynThrPID = MIN(read8(), CONTROL_RATE_CONFIG_TPA_MAX); rate = read8();
currentControlRateProfile->dynThrPID = MIN(rate, CONTROL_RATE_CONFIG_TPA_MAX);
currentControlRateProfile->thrMid8 = read8(); currentControlRateProfile->thrMid8 = read8();
currentControlRateProfile->thrExpo8 = read8(); currentControlRateProfile->thrExpo8 = read8();
currentControlRateProfile->tpa_breakpoint = read16(); currentControlRateProfile->tpa_breakpoint = read16();