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Add rc_rate_yaw // SuperExpo feature renamed to SUPEREXPO_RATES

This commit is contained in:
borisbstyle 2016-06-02 17:09:32 +02:00
parent 6c8a8614fc
commit a74acccb84
9 changed files with 15 additions and 19 deletions
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5
src/main/config/config.c
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@ -141,7 +141,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 139;
static const uint8_t EEPROM_CONF_VERSION = 140;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -310,6 +310,7 @@ void resetSerialConfig(serialConfig_t *serialConfig)
static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
controlRateConfig->rcRate8 = 100;
controlRateConfig->rcYawRate8 = 100;
controlRateConfig->rcExpo8 = 10;
controlRateConfig->thrMid8 = 50;
controlRateConfig->thrExpo8 = 0;
@ -399,7 +400,7 @@ static void resetConf(void)
#endif
featureSet(FEATURE_FAILSAFE);
featureSet(FEATURE_SUPEREXPO);
featureSet(FEATURE_SUPEREXPO_RATES);
// global settings
masterConfig.current_profile_index = 0; // default profile

2
src/main/config/config.h
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@ -45,7 +45,7 @@ typedef enum {
FEATURE_CHANNEL_FORWARDING = 1 << 20,
FEATURE_TRANSPONDER = 1 << 21,
FEATURE_AIRMODE = 1 << 22,
FEATURE_SUPEREXPO = 1 << 23,
FEATURE_SUPEREXPO_RATES = 1 << 23,
} features_e;
void handleOneshotFeatureChangeOnRestart(void);

4
src/main/flight/pid.c
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@ -80,14 +80,14 @@ float calculateRate(int axis, const controlRateConfig_t *controlRateConfig) {
if (isSuperExpoActive()) {
float rcFactor = (axis == YAW) ? (ABS(rcCommand[axis]) / 500.0f) : (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcRate8 / 100.0f)));
rcFactor = constrainf(1.0f / (1.0f - (rcFactor * (controlRateConfig->rates[axis] / 100.0f))), 0.01f, 1.00f);
rcFactor = 1.0f / (constrainf(1.0f - (rcFactor * (controlRateConfig->rates[axis] / 100.0f)), 0.01f, 1.00f));
angleRate = rcFactor * ((27 * rcCommand[axis]) / 16.0f);
} else {
angleRate = (float)((controlRateConfig->rates[axis] + 27) * rcCommand[axis]) / 16.0f;
}
return constrainf(angleRate, -8190, 8290); // Rate limit protection
return constrainf(angleRate, -8190.0f, 8190.0f); // Rate limit protection
}
uint16_t getDynamicKp(int axis, const pidProfile_t *pidProfile) {

2
src/main/io/rc_controls.c
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@ -76,7 +76,7 @@ bool isAirmodeActive(void) {
}
bool isSuperExpoActive(void) {
return (feature(FEATURE_SUPEREXPO));
return (feature(FEATURE_SUPEREXPO_RATES));
}
void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue) {

1
src/main/io/rc_controls.h
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@ -136,6 +136,7 @@ typedef struct modeActivationCondition_s {
typedef struct controlRateConfig_s {
uint8_t rcRate8;
uint8_t rcYawRate8;
uint8_t rcExpo8;
uint8_t thrMid8;
uint8_t thrExpo8;

10
src/main/io/rc_curves.c
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@ -46,16 +46,10 @@ void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoCo
}
}
int16_t rcLookupPitchRoll(int32_t tmp, controlRateConfig_t *controlRateConfig)
int16_t rcLookup(int32_t tmp, uint8_t expo, uint8_t rate)
{
float tmpf = tmp / 100.0f;
return (int16_t)((2500.0f + (float)controlRateConfig->rcExpo8 * (tmpf * tmpf - 25.0f)) * tmpf * (float)(controlRateConfig->rcRate8) / 2500.0f );
}
int16_t rcLookupYaw(int32_t tmp, controlRateConfig_t *controlRateConfig)
{
float tmpf = tmp / 100.0f;
return (int16_t)((2500.0f + (float)controlRateConfig->rcYawExpo8* (tmpf * tmpf - 25.0f)) * tmpf / 25.0f );
return (int16_t)((2500.0f + (float)expo * (tmpf * tmpf - 25.0f)) * tmpf * (float)(rate) / 2500.0f );
}
int16_t rcLookupThrottle(int32_t tmp)

3
src/main/io/rc_curves.h
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@ -19,7 +19,6 @@
void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoConfig_t *escAndServoConfig);
int16_t rcLookupPitchRoll(int32_t tmp, controlRateConfig_t *controlRateConfig);
int16_t rcLookupYaw(int32_t tmp, controlRateConfig_t *controlRateConfig);
int16_t rcLookup(int32_t tmp, uint8_t expo, uint8_t rate);
int16_t rcLookupThrottle(int32_t tmp);

3
src/main/io/serial_cli.c
View File

@ -199,7 +199,7 @@ static const char * const featureNames[] = {
"SERVO_TILT", "SOFTSERIAL", "GPS", "FAILSAFE",
"SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
"RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "ONESHOT125",
"BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE", "SUPEREXPO",
"BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE", "SUPEREXPO_RATES",
NULL
};
@ -695,6 +695,7 @@ const clivalue_t valueTable[] = {
#endif
{ "rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0, 250 } },
{ "rc_rate_yaw", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawRate8, .config.minmax = { 0, 250 } },
{ "rc_expo", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcExpo8, .config.minmax = { 0, 100 } },
{ "rc_yaw_expo", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawExpo8, .config.minmax = { 0, 100 } },
{ "thr_mid", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].thrMid8, .config.minmax = { 0, 100 } },

4
src/main/mw.c
View File

@ -244,14 +244,14 @@ static void updateRcCommands(void)
} else {
tmp = 0;
}
rcCommand[axis] = rcLookupPitchRoll(tmp, currentControlRateProfile);
rcCommand[axis] = rcLookup(tmp, currentControlRateProfile->rcExpo8, currentControlRateProfile->rcRate8);
} else if (axis == YAW) {
if (tmp > masterConfig.rcControlsConfig.yaw_deadband) {
tmp -= masterConfig.rcControlsConfig.yaw_deadband;
} else {
tmp = 0;
}
rcCommand[axis] = rcLookupYaw(tmp, currentControlRateProfile) * -masterConfig.yaw_control_direction;
rcCommand[axis] = rcLookup(tmp, currentControlRateProfile->rcYawExpo8, currentControlRateProfile->rcYawRate8) * -masterConfig.yaw_control_direction;;
}
if (rcData[axis] < masterConfig.rxConfig.midrc) {
rcCommand[axis] = -rcCommand[axis];