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Merge pull request #446 from GaryKeeble/betaflight 

Add rcYawRate to calculateRate() function
This commit is contained in:
borisbstyle 2016-06-06 13:11:54 +02:00
parent a74acccb84 db5184d603
commit a6713426d1
2 changed files with 41 additions and 38 deletions
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77
src/main/blackbox/blackbox.c
View File

@ -1181,156 +1181,159 @@ static bool blackboxWriteSysinfo()
blackboxPrintfHeaderLine("rcExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcExpo8);
break;
case 14:
blackboxPrintfHeaderLine("rcYawExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawExpo8);
blackboxPrintfHeaderLine("rcYawRate:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawRate8);
break;
case 15:
blackboxPrintfHeaderLine("thrMid:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrMid8);
blackboxPrintfHeaderLine("rcYawExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawExpo8);
break;
case 16:
blackboxPrintfHeaderLine("thrExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrExpo8);
blackboxPrintfHeaderLine("thrMid:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrMid8);
break;
case 17:
blackboxPrintfHeaderLine("dynThrPID:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].dynThrPID);
blackboxPrintfHeaderLine("thrExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrExpo8);
break;
case 18:
blackboxPrintfHeaderLine("tpa_breakpoint:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].tpa_breakpoint);
blackboxPrintfHeaderLine("dynThrPID:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].dynThrPID);
break;
case 19:
blackboxPrintfHeaderLine("tpa_breakpoint:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].tpa_breakpoint);
break;
case 20:
blackboxPrintfHeaderLine("rates:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[ROLL],
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[PITCH],
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[YAW]);
break;
case 20:
case 21:
blackboxPrintfHeaderLine("looptime:%d", targetLooptime);
break;
case 21:
case 22:
blackboxPrintfHeaderLine("pidController:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidController);
break;
case 22:
case 23:
blackboxPrintfHeaderLine("rollPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[ROLL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[ROLL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[ROLL]);
break;
case 23:
case 24:
blackboxPrintfHeaderLine("pitchPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PITCH],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PITCH],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PITCH]);
break;
case 24:
case 25:
blackboxPrintfHeaderLine("yawPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[YAW],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[YAW],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[YAW]);
break;
case 25:
case 26:
blackboxPrintfHeaderLine("altPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDALT],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDALT],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDALT]);
break;
case 26:
case 27:
blackboxPrintfHeaderLine("posPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOS],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOS],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOS]);
break;
case 27:
case 28:
blackboxPrintfHeaderLine("posrPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOSR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOSR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOSR]);
break;
case 28:
case 29:
blackboxPrintfHeaderLine("navrPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDNAVR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDNAVR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDNAVR]);
break;
case 29:
case 30:
blackboxPrintfHeaderLine("levelPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDLEVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDLEVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDLEVEL]);
break;
case 30:
case 31:
blackboxPrintfHeaderLine("magPID:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDMAG]);
break;
case 31:
case 32:
blackboxPrintfHeaderLine("velPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDVEL]);
break;
case 32:
case 33:
blackboxPrintfHeaderLine("yaw_p_limit:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);
break;
case 33:
case 34:
blackboxPrintfHeaderLine("yaw_lpf_hz:%d",
(int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0f));
break;
case 34:
case 35:
blackboxPrintfHeaderLine("dterm_average_count:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
break;
case 35:
case 36:
blackboxPrintfHeaderLine("dynamic_pid:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.dynamic_pid);
break;
case 36:
case 37:
blackboxPrintfHeaderLine("rollPitchItermResetRate:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate);
break;
case 37:
case 38:
blackboxPrintfHeaderLine("yawItermResetRate:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate);
break;
case 38:
case 39:
blackboxPrintfHeaderLine("dterm_lpf_hz:%d",
(int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0f));
break;
case 39:
case 40:
blackboxPrintfHeaderLine("airmode_activate_throttle:%d",
masterConfig.rxConfig.airModeActivateThreshold);
break;
case 40:
case 41:
blackboxPrintfHeaderLine("deadband:%d", masterConfig.rcControlsConfig.deadband);
break;
case 41:
case 42:
blackboxPrintfHeaderLine("yaw_deadband:%d", masterConfig.rcControlsConfig.yaw_deadband);
break;
case 42:
case 43:
blackboxPrintfHeaderLine("gyro_lpf:%d", masterConfig.gyro_lpf);
break;
case 43:
case 44:
blackboxPrintfHeaderLine("gyro_lowpass_hz:%d", (int)(masterConfig.gyro_soft_lpf_hz * 100.0f));
break;
case 44:
case 45:
blackboxPrintfHeaderLine("acc_lpf_hz:%d", (int)(masterConfig.acc_lpf_hz * 100.0f));
break;
case 45:
case 46:
blackboxPrintfHeaderLine("acc_hardware:%d", masterConfig.acc_hardware);
break;
case 46:
case 47:
blackboxPrintfHeaderLine("baro_hardware:%d", masterConfig.baro_hardware);
break;
case 47:
case 48:
blackboxPrintfHeaderLine("mag_hardware:%d", masterConfig.mag_hardware);
break;
case 48:
case 49:
blackboxPrintfHeaderLine("gyro_cal_on_first_arm:%d", masterConfig.gyro_cal_on_first_arm);
break;
case 49:
case 50:
blackboxPrintfHeaderLine("vbat_pid_compensation:%d", masterConfig.batteryConfig.vbatPidCompensation);
break;
case 50:
case 51:
blackboxPrintfHeaderLine("rc_smoothing:%d", masterConfig.rxConfig.rcSmoothing);
break;
case 51:
case 52:
blackboxPrintfHeaderLine("features:%d", masterConfig.enabledFeatures);
break;
default:

2
src/main/flight/pid.c
View File

@ -79,7 +79,7 @@ float calculateRate(int axis, const controlRateConfig_t *controlRateConfig) {
float angleRate;
if (isSuperExpoActive()) {
float rcFactor = (axis == YAW) ? (ABS(rcCommand[axis]) / 500.0f) : (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcRate8 / 100.0f)));
float rcFactor = (axis == YAW) ? (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcYawRate8 / 100.0f))) : (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcRate8 / 100.0f)));
rcFactor = 1.0f / (constrainf(1.0f - (rcFactor * (controlRateConfig->rates[axis] / 100.0f)), 0.01f, 1.00f));
angleRate = rcFactor * ((27 * rcCommand[axis]) / 16.0f);