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Code Issues Wiki Activity

Added new rc rate calculation to rates curve. Removed SUPER_EXPO feature for >= 3.0.

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Added support for RC Expo Power setting.

fixed titlebar in pid tuning tab

request from @mikeller #252
fixed titlebar from pid tuning and accel
This commit is contained in:
mikeller 2016-08-27 12:34:05 +12:00 • committed by Michael Keller
parent 158a415bfc
commit 1da5219bf2
8 changed files with 165 additions and 159 deletions
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55
js/RateCurve.js
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@ -9,18 +9,24 @@ var RateCurve = function (useLegacyCurve) {
this.constrain = function (value, min, max) {
return Math.max(min, Math.min(value, max));
}
};
this.rcCommand = function (rcData, rcRate, rcExpo) {
var tmp = Math.min(Math.abs(rcData - midRc), 500) / 100;
this.rcCommand = function (rcData, rcRate) {
var tmp = Math.min(Math.abs(rcData - midRc), 500);
rcRate = rcRate;
var result = ((2500 + rcExpo * (tmp * tmp - 25)) * tmp * rcRate / 2500).toFixed(0);
if (rcData < midRc) {
if (rcRate > 2) {
rcRate = rcRate + (rcRate - 2) * 14.54;
}
var result = tmp * rcRate;
if (rcData < midRc) {
result = -result;
}
return result;
}
};
this.drawRateCurve = function (rate, rcRate, rcExpo, superExpoActive, maxAngularVel, context, width, height) {
var canvasHeightScale = height / (2 * maxAngularVel);
@ -42,7 +48,7 @@ var RateCurve = function (useLegacyCurve) {
context.stroke();
context.restore();
}
};
this.drawLegacyRateCurve = function (rate, rcRate, rcExpo, context, width, height) {
// math magic by englishman
@ -55,28 +61,31 @@ var RateCurve = function (useLegacyCurve) {
context.quadraticCurveTo(width * 11 / 20, height - ((rateY / 2) * (1 - rcExpo)), width, height - rateY);
context.stroke();
}
}
};
RateCurve.prototype.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcRate, rcExpo, superExpoActive) {
var angleRate;
if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined) {
rate = rate * 100;
rcRate = rcRate * 100;
rcExpo = rcExpo * 100;
var inputValue = this.rcCommand(rcData, rcRate, rcExpo);
var inputValue = this.rcCommand(rcData, rcRate);
var maxRc = 500 * rcRate;
if (superExpoActive) {
var rcFactor = Math.abs(inputValue) / (500 * rcRate / 100);
rcFactor = 1 / this.constrain(1 - rcFactor * rate / 100, 0.01, 1);
angleRate = rcFactor * 27 * inputValue / 16;
} else {
angleRate = (rate + 27) * inputValue / 16;
if (rcExpo > 0) {
var absRc = Math.abs(inputValue) / maxRc;
inputValue = inputValue * ((rcExpo * absRc * absRc * absRc) + absRc * (1-rcExpo)); // absRc should be wrapped in function using expo power
}
angleRate = this.constrain(angleRate, -8190, 8190); // Rate limit protection
angleRate = angleRate >> 2; // the shift by 2 is to counterbalance the divide by 4 that occurs on the gyro to calculate the error
var rcInput = inputValue / maxRc;
if (superExpoActive) {
var rcFactor = 1 / this.constrain(1 - Math.abs(rcInput) * rate, 0.01, 1);
angleRate = 200 * rcRate * rcInput; // 200 should be variable checked on version (older versions it's 205,9)
angleRate = angleRate * rcFactor;
} else {
angleRate = (((rate * 100) + 27) * inputValue / 16) / 4.1; // Only applies to old versions ?
}
angleRate = this.constrain(angleRate, -1998, 1998); // Rate limit protection
}
return angleRate;
@ -89,7 +98,7 @@ RateCurve.prototype.getMaxAngularVel = function (rate, rcRate, rcExpo, superExpo
}
return maxAngularVel;
}
};
RateCurve.prototype.draw = function (rate, rcRate, rcExpo, superExpoActive, maxAngularVel, context) {
if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined) {
@ -102,4 +111,4 @@ RateCurve.prototype.draw = function (rate, rcRate, rcExpo, superExpoActive, maxA
this.drawRateCurve(rate, rcRate, rcExpo, superExpoActive, maxAngularVel, context, width, height);
}
}
}
};