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Moved scaling factor for rates calculation into 'RateCurve'.

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This commit is contained in:
mikeller 2016-07-08 09:21:32 +12:00
parent a22baa227c
commit bc58101ab7
2 changed files with 70 additions and 55 deletions
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53
js/RateCurve.js
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@ -7,11 +7,11 @@ var maxRc = 2000;
var RateCurve = function (useLegacyCurve) {
this.useLegacyCurve = useLegacyCurve;
function constrain(value, min, max) {
this.constrain = function (value, min, max) {
return Math.max(min, Math.min(value, max));
}
function rcCommand(rcData, rcRate, rcExpo) {
this.rcCommand = function (rcData, rcRate, rcExpo) {
var tmp = Math.min(Math.abs(rcData - midRc), 500) / 100;
var result = ((2500 + rcExpo * (tmp * tmp - 25)) * tmp * rcRate / 2500).toFixed(0);
@ -22,23 +22,6 @@ var RateCurve = function (useLegacyCurve) {
return result;
}
this.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcRate, rcExpo, superExpoActive) {
var inputValue = rcCommand(rcData, rcRate, rcExpo);
var angleRate;
if (superExpoActive) {
var rcFactor = Math.abs(inputValue) / (500 * rcRate / 100);
rcFactor = 1 / constrain(1 - rcFactor * rate / 100, 0.01, 1);
angleRate = rcFactor * 27 * inputValue / 16;
} else {
angleRate = (rate + 27) * inputValue / 16;
}
angleRate = constrain(angleRate, -8190, 8190); // Rate limit protection
return angleRate >> 2; // the shift by 2 is to counterbalance the divide by 4 that occurs on the gyro to calculate the error
};
this.drawRateCurve = function (rate, rcRate, rcExpo, superExpoActive, maxAngularVel, context, width, height) {
var canvasHeightScale = height / (2 * maxAngularVel);
@ -62,10 +45,6 @@ var RateCurve = function (useLegacyCurve) {
}
this.drawLegacyRateCurve = function (rate, rcRate, rcExpo, context, width, height) {
rate = rate / 100;
rcRate = rcRate / 100;
rcExpo = rcExpo / 100;
// math magic by englishman
var rateY = height * rcRate;
rateY = rateY + (1 / (1 - ((rateY / height) * rate)))
@ -78,10 +57,34 @@ var RateCurve = function (useLegacyCurve) {
}
}
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);
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;
}
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
}
return angleRate;
};
RateCurve.prototype.getMaxAngularVel = function (rate, rcRate, rcExpo, superExpoActive) {
var maxAngularVel;
if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined
&& !this.useLegacyCurve) {
if (!this.useLegacyCurve) {
maxAngularVel = this.rcCommandRawToDegreesPerSecond(maxRc, rate, rcRate, rcExpo, superExpoActive);
}