Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 21:05:35 +03:00
Code Issues Wiki Activity

better code

Browse source
This commit is contained in:
Nicola De Pasquale 2019-05-12 11:15:20 +02:00
parent d930fd2188
commit 1d353f3d58
1 changed files with 2 additions and 11 deletions
Download patch file Download diff file Expand all files Collapse all files

13
src/main/fc/rc.c
View file

@ -68,8 +68,6 @@ enum {
THROTTLE_FLAG = 1 << THROTTLE, THROTTLE_FLAG = 1 << THROTTLE,
}; };
#define MAX_KISS_RATE 0.99f //kiss rate can't be greater than this
#ifdef USE_RC_SMOOTHING_FILTER #ifdef USE_RC_SMOOTHING_FILTER
#define RC_SMOOTHING_IDENTITY_FREQUENCY 80 // Used in the formula to convert a BIQUAD cutoff frequency to PT1 #define RC_SMOOTHING_IDENTITY_FREQUENCY 80 // Used in the formula to convert a BIQUAD cutoff frequency to PT1
#define RC_SMOOTHING_FILTER_STARTUP_DELAY_MS 5000 // Time to wait after power to let the PID loop stabilize before starting average frame rate calculation #define RC_SMOOTHING_FILTER_STARTUP_DELAY_MS 5000 // Time to wait after power to let the PID loop stabilize before starting average frame rate calculation
@ -152,17 +150,10 @@ float applyRaceFlightRates(const int axis, float rcCommandf, const float rcComma
float applyKissRates(const int axis, float rcCommandf, const float rcCommandfAbs) float applyKissRates(const int axis, float rcCommandf, const float rcCommandfAbs)
{ {
float kissRcCommandf;
float kissRpyUseRates;
const float rcCurvef = currentControlRateProfile->rcExpo[axis] / 100.0f; const float rcCurvef = currentControlRateProfile->rcExpo[axis] / 100.0f;
if (currentControlRateProfile->rates[axis] < 100) { float kissRpyUseRates = 1.0f / (constrainf(1.0f - (rcCommandfAbs * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f));
kissRpyUseRates = 1.0f / (1 - rcCommandfAbs * currentControlRateProfile->rates[axis] / 100.0f); float kissRcCommandf = (power3(rcCommandf) * rcCurvef + rcCommandf * (1 - rcCurvef)) * (currentControlRateProfile->rcRates[axis] / 1000.0f);
} else {
kissRpyUseRates = 1.0f / (1 - rcCommandfAbs * MAX_KISS_RATE);
}
kissRcCommandf = (power3(rcCommandf) * rcCurvef + rcCommandf * (1 - rcCurvef)) * (currentControlRateProfile->rcRates[axis] / 1000.0f);
float kissAngle = constrainf(((2000.0f * kissRpyUseRates) * kissRcCommandf), -SETPOINT_RATE_LIMIT, SETPOINT_RATE_LIMIT); float kissAngle = constrainf(((2000.0f * kissRpyUseRates) * kissRcCommandf), -SETPOINT_RATE_LIMIT, SETPOINT_RATE_LIMIT);
return kissAngle; return kissAngle;