Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 00:35:39 +03:00
Code Issues Wiki Activity

Integer SETPOINT_RATE_LIMIT for STATIC_ASSERT().

Browse source
This commit is contained in:
ianrmurphy 2018-09-03 21:30:01 +01:00
parent e4cdb077b2
commit 2c1988f1f3
1 changed files with 3 additions and 3 deletions
Download patch file Download diff file Expand all files Collapse all files

6
src/main/fc/rc.c
View file

@ -111,7 +111,7 @@ static int16_t rcLookupThrottle(int32_t tmp)
return lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100;
}
#define SETPOINT_RATE_LIMIT 1998.0f
#define SETPOINT_RATE_LIMIT 1998
STATIC_ASSERT(CONTROL_RATE_CONFIG_RATE_LIMIT_MAX <= SETPOINT_RATE_LIMIT, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX_too_large);
#define RC_RATE_INCREMENTAL 14.54f
@ -192,8 +192,8 @@ static void scaleRcCommandToFpvCamAngle(void)
float roll = setpointRate[ROLL];
float yaw = setpointRate[YAW];
setpointRate[ROLL] = constrainf(roll * cosFactor - yaw * sinFactor, -SETPOINT_RATE_LIMIT, SETPOINT_RATE_LIMIT);
setpointRate[YAW] = constrainf(yaw * cosFactor + roll * sinFactor, -SETPOINT_RATE_LIMIT, SETPOINT_RATE_LIMIT);
setpointRate[ROLL] = constrainf(roll * cosFactor - yaw * sinFactor, -SETPOINT_RATE_LIMIT * 1.0f, SETPOINT_RATE_LIMIT * 1.0f);
setpointRate[YAW] = constrainf(yaw * cosFactor + roll * sinFactor, -SETPOINT_RATE_LIMIT * 1.0f, SETPOINT_RATE_LIMIT * 1.0f);
}
#define THROTTLE_BUFFER_MAX 20