Add rc_rate_yaw // SuperExpo feature renamed to SUPEREXPO_RATES

src/main/config/config.c

@@ -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

src/main/config/config.h

@@ -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);

src/main/flight/pid.c

@@ -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) {

src/main/io/rc_controls.c

@@ -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) {

src/main/io/rc_controls.h

@@ -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;

src/main/io/rc_curves.c

@@ -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 );
+    return (int16_t)((2500.0f + (float)expo * (tmpf * tmpf - 25.0f)) * tmpf * (float)(rate) / 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 );
 }
 
 int16_t rcLookupThrottle(int32_t tmp)

src/main/io/rc_curves.h

@@ -19,7 +19,6 @@
 
 void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoConfig_t *escAndServoConfig);
 
-int16_t rcLookupPitchRoll(int32_t tmp, controlRateConfig_t *controlRateConfig);
+int16_t rcLookup(int32_t tmp, uint8_t expo, uint8_t rate);
-int16_t rcLookupYaw(int32_t tmp, controlRateConfig_t *controlRateConfig);
 int16_t rcLookupThrottle(int32_t tmp);
 

src/main/io/serial_cli.c

@@ -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 } },

src/main/mw.c

@@ -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];