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max rate independent of deadband

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This commit is contained in:
Nicola De Pasquale 2020-03-12 00:09:50 +01:00
parent d9fedb5024
commit 04e5e3bf24
1 changed files with 4 additions and 2 deletions
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6
src/main/fc/rc.c
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@ -244,8 +244,9 @@ static void calculateSetpointRate(int axis)
} else } else
#endif #endif
{ {
const uint8_t deadband = axis == FD_YAW ? rcControlsConfig()->yaw_deadband : rcControlsConfig()->deadband;
// scale rcCommandf to range [-1.0, 1.0] // scale rcCommandf to range [-1.0, 1.0]
float rcCommandf = rcCommand[axis] / 500.0f; float rcCommandf = rcCommand[axis] / (500.0f - deadband);
rcDeflection[axis] = rcCommandf; rcDeflection[axis] = rcCommandf;
const float rcCommandfAbs = fabsf(rcCommandf); const float rcCommandfAbs = fabsf(rcCommandf);
rcDeflectionAbs[axis] = rcCommandfAbs; rcDeflectionAbs[axis] = rcCommandfAbs;
@ -684,7 +685,8 @@ FAST_CODE void processRcCommand(void)
if (isRxDataNew) { if (isRxDataNew) {
for (int i = FD_ROLL; i <= FD_YAW; i++) { for (int i = FD_ROLL; i <= FD_YAW; i++) {
oldRcCommand[i] = rcCommand[i]; oldRcCommand[i] = rcCommand[i];
const float rcCommandf = rcCommand[i] / 500.0f; const uint8_t deadband = i == FD_YAW ? rcControlsConfig()->yaw_deadband : rcControlsConfig()->deadband;
const float rcCommandf = rcCommand[i] / (500.0f - deadband);
const float rcCommandfAbs = fabsf(rcCommandf); const float rcCommandfAbs = fabsf(rcCommandf);
rawSetpoint[i] = applyRates(i, rcCommandf, rcCommandfAbs); rawSetpoint[i] = applyRates(i, rcCommandf, rcCommandfAbs);
rawDeflection[i] = rcCommandf; rawDeflection[i] = rcCommandf;