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Apply the same maximum control rates (1.0) in CLI and MSP 

Previously it was possible to set roll/pitch rate > 1.0 using MSP, but
not using the CLI. Roll/pitch rate > 1.0 is meaningless.

TPA is also limited to 1.0.
This commit is contained in:
Nicholas Sherlock 2015-03-22 09:46:50 +13:00
parent bcadd0803a
commit 828ec550cd
4 changed files with 19 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/main/io/rc_controls.c
View File

@ -407,18 +407,18 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
case ADJUSTMENT_PITCH_ROLL_RATE:
case ADJUSTMENT_PITCH_RATE:
newValue = (int)controlRateConfig->rates[FD_PITCH] + delta;
controlRateConfig->rates[FD_PITCH] = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
controlRateConfig->rates[FD_PITCH] = constrain(newValue, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
break;
}
// follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
case ADJUSTMENT_ROLL_RATE:
newValue = (int)controlRateConfig->rates[FD_ROLL] + delta;
controlRateConfig->rates[FD_ROLL] = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
controlRateConfig->rates[FD_ROLL] = constrain(newValue, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
break;
case ADJUSTMENT_YAW_RATE:
newValue = (int)controlRateConfig->rates[FD_YAW] + delta;
controlRateConfig->rates[FD_YAW] = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
controlRateConfig->rates[FD_YAW] = constrain(newValue, 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
break;
case ADJUSTMENT_PITCH_ROLL_P:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {

10
src/main/io/rc_controls.h
View File

@ -100,6 +100,16 @@ typedef enum {
#define MIN_MODE_RANGE_STEP 0
#define MAX_MODE_RANGE_STEP ((CHANNEL_RANGE_MAX - CHANNEL_RANGE_MIN) / 25)
// 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
/* 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 100
#define CONTROL_RATE_CONFIG_TPA_MAX 100
// steps are 25 apart
// a value of 0 corresponds to a channel value of 900 or less
// a value of 48 corresponds to a channel value of 2100 or more

8
src/main/io/serial_cli.c
View File

@ -397,10 +397,10 @@ const clivalue_t valueTable[] = {
{ "rc_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcExpo8, 0, 100 },
{ "thr_mid", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrMid8, 0, 100 },
{ "thr_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrExpo8, 0, 100 },
{ "roll_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_ROLL], 0, 100 },
{ "pitch_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_PITCH], 0, 100 },
{ "yaw_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_YAW], 0, 100 },
{ "tpa_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].dynThrPID, 0, 100},
{ "roll_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_ROLL], 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX },
{ "pitch_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_PITCH], 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX },
{ "yaw_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_YAW], 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX },
{ "tpa_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].dynThrPID, 0, CONTROL_RATE_CONFIG_TPA_MAX},
{ "tpa_breakpoint", VAR_UINT16 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].tpa_breakpoint, PWM_RANGE_MIN, PWM_RANGE_MAX},
{ "failsafe_delay", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_delay, 0, 200 },

4
src/main/io/serial_msp.c
View File

@ -1331,9 +1331,9 @@ static bool processInCommand(void)
currentControlRateProfile->rcRate8 = read8();
currentControlRateProfile->rcExpo8 = read8();
for (i = 0; i < 3; i++) {
currentControlRateProfile->rates[i] = read8();
currentControlRateProfile->rates[i] = MIN(read8(), i == FD_YAW ? CONTROL_RATE_CONFIG_YAW_RATE_MAX : CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
}
currentControlRateProfile->dynThrPID = read8();
currentControlRateProfile->dynThrPID = MIN(read8(), CONTROL_RATE_CONFIG_TPA_MAX);
currentControlRateProfile->thrMid8 = read8();
currentControlRateProfile->thrExpo8 = read8();
currentControlRateProfile->tpa_breakpoint = read16();