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Fix error in rc expo calculation // add configurable expo power

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This commit is contained in:
borisbstyle 2016-09-02 22:04:53 +02:00
parent c53c5250a9
commit 3f6860b83b
7 changed files with 20 additions and 3 deletions
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7
src/main/common/maths.c
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@ -99,6 +99,13 @@ float acos_approx(float x)
}
#endif
float powerf(float base, int exp) {
float result = base;
for (int count = 1; count < exp; count++) result *= base;
return result;
}
int32_t applyDeadband(int32_t value, int32_t deadband)
{
if (ABS(value) < deadband) {

1
src/main/common/maths.h
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@ -69,6 +69,7 @@ typedef union {
fp_angles_def angles;
} fp_angles_t;
float powerf(float base, int exp);
int32_t applyDeadband(int32_t value, int32_t deadband);
void devClear(stdev_t *dev);

1
src/main/config/config.c
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@ -191,6 +191,7 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
controlRateConfig->dynThrPID = 10;
controlRateConfig->rcYawExpo8 = 0;
controlRateConfig->tpa_breakpoint = 1650;
controlRateConfig->rcExpoPwr = 3;
for (uint8_t axis = 0; axis < FLIGHT_DYNAMICS_INDEX_COUNT; axis++) {
controlRateConfig->rates[axis] = 70;

1
src/main/io/rc_controls.h
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@ -152,6 +152,7 @@ typedef struct controlRateConfig_s {
uint8_t dynThrPID;
uint8_t rcYawExpo8;
uint16_t tpa_breakpoint; // Breakpoint where TPA is activated
uint8_t rcExpoPwr;
} controlRateConfig_t;
extern int16_t rcCommand[4];

1
src/main/io/serial_cli.c
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@ -800,6 +800,7 @@ const clivalue_t valueTable[] = {
{ "rc_rate_yaw", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawRate8, .config.minmax = { 0, 255 } },
{ "rc_expo", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcExpo8, .config.minmax = { 0, 100 } },
{ "rc_yaw_expo", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawExpo8, .config.minmax = { 0, 100 } },
{ "rc_expo_power", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawExpo8, .config.minmax = { 2, 4 } },
{ "thr_mid", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].thrMid8, .config.minmax = { 0, 100 } },
{ "thr_expo", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].thrExpo8, .config.minmax = { 0, 100 } },
{ "roll_srate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_ROLL], .config.minmax = { 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX } },

6
src/main/io/serial_msp.c
View file

@ -820,7 +820,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize16((uint16_t)gyro.targetLooptime);
break;
case MSP_RC_TUNING:
headSerialReply(12);
headSerialReply(13);
serialize8(currentControlRateProfile->rcRate8);
serialize8(currentControlRateProfile->rcExpo8);
for (i = 0 ; i < 3; i++) {
@ -832,6 +832,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize16(currentControlRateProfile->tpa_breakpoint);
serialize8(currentControlRateProfile->rcYawExpo8);
serialize8(currentControlRateProfile->rcYawRate8);
serialize8(currentControlRateProfile->rcExpoPwr);
break;
case MSP_PID:
headSerialReply(3 * PID_ITEM_COUNT);
@ -1424,6 +1425,9 @@ static bool processInCommand(void)
if (currentPort->dataSize >= 12) {
currentControlRateProfile->rcYawRate8 = read8();
}
if (currentPort->dataSize >=13) {
currentControlRateProfile->rcExpoPwr = read8();
}
} else {
headSerialError(0);
}

6
src/main/mw.c
View file

@ -189,13 +189,15 @@ float calculateSetpointRate(int axis, int16_t rc) {
if (rcRate > 2.0f) rcRate = rcRate + (RC_RATE_INCREMENTAL * (rcRate - 2.0f));
rcCommandf = rc / 500.0f;
rcInput[axis] = ABS(rcCommandf);
if (rcExpo) {
float expof = rcExpo / 100.0f;
rcCommandf = rcCommandf * (expof * (rcInput[axis] * rcInput[axis] * rcInput[axis]) + rcInput[axis]*(1-expof));
float absRc = ABS(rcCommandf);
rcCommandf = rcCommandf * (expof * (powerf(absRc, currentControlRateProfile->rcExpoPwr)) + absRc*(1-expof));
}
rcInput[axis] = ABS(rcCommandf);
angleRate = 200.0f * rcRate * rcCommandf;
if (currentControlRateProfile->rates[axis]) {