Restore previous rate limit for yaw of 2.55
Since some people are indeed using yaw > 1.0.
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@ -103,10 +103,8 @@ typedef enum {
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// Roll/pitch rates are a proportion used for mixing, so it tops out at 1.0:
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#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX 100
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/* Meaningful yaw rates are effectively unbounded because they are treated as a rotation rate multiplier,
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* but we'll limit it to 1.0:
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*/
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#define CONTROL_RATE_CONFIG_YAW_RATE_MAX 100
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/* Meaningful yaw rates are effectively unbounded because they are treated as a rotation rate multiplier: */
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#define CONTROL_RATE_CONFIG_YAW_RATE_MAX 255
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#define CONTROL_RATE_CONFIG_TPA_MAX 100
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@ -1221,6 +1221,7 @@ static bool processInCommand(void)
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{
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uint32_t i;
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uint16_t tmp;
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uint8_t rate;
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#ifdef GPS
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uint8_t wp_no;
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int32_t lat = 0, lon = 0, alt = 0;
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@ -1331,9 +1332,11 @@ static bool processInCommand(void)
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currentControlRateProfile->rcRate8 = read8();
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currentControlRateProfile->rcExpo8 = read8();
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for (i = 0; i < 3; i++) {
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currentControlRateProfile->rates[i] = MIN(read8(), i == FD_YAW ? CONTROL_RATE_CONFIG_YAW_RATE_MAX : CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
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rate = read8();
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currentControlRateProfile->rates[i] = MIN(rate, i == FD_YAW ? CONTROL_RATE_CONFIG_YAW_RATE_MAX : CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
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}
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currentControlRateProfile->dynThrPID = MIN(read8(), CONTROL_RATE_CONFIG_TPA_MAX);
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rate = read8();
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currentControlRateProfile->dynThrPID = MIN(rate, CONTROL_RATE_CONFIG_TPA_MAX);
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currentControlRateProfile->thrMid8 = read8();
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currentControlRateProfile->thrExpo8 = read8();
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currentControlRateProfile->tpa_breakpoint = read16();
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