Decouple min_check from throttle // Add modern expo calculation to throttle curve

Makefile

@@ -594,7 +594,6 @@ COMMON_SRC = \
             fc/fc_msp.c \
             fc/fc_tasks.c \
             fc/rc_controls.c \
-            fc/rc_curves.c \
             fc/runtime_config.c \
             fc/cli.c \
             flight/altitudehold.c \
@@ -714,7 +713,6 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
             fc/fc_tasks.c \
             fc/fc_rc.c \
             fc/rc_controls.c \
-            fc/rc_curves.c \
             fc/runtime_config.c \
             flight/altitudehold.c \
             flight/failsafe.c \

src/main/fc/config.c

@@ -53,7 +53,6 @@
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"
-#include "fc/rc_curves.h"
 #include "fc/runtime_config.h"
 
 #include "sensors/sensors.h"
@@ -882,15 +881,8 @@ static void resetConf(void)
 #endif
 }
 
-void activateControlRateConfig(void)
-{
-    generateThrottleCurve(currentControlRateProfile, &masterConfig.motorConfig);
-}
-
 void activateConfig(void)
 {
-    activateControlRateConfig();
-
     resetAdjustmentStates();
 
     useRcControlsConfig(
@@ -1168,7 +1160,6 @@ void changeControlRateProfile(uint8_t profileIndex)
         profileIndex = MAX_RATEPROFILES - 1;
     }
     setControlRateProfile(profileIndex);
-    activateControlRateConfig();
 }
 
 void beeperOffSet(uint32_t mask)

src/main/fc/fc_core.c

@@ -41,7 +41,6 @@
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"
-#include "fc/rc_curves.h"
 #include "fc/runtime_config.h"
 #include "fc/cli.h"
 #include "fc/fc_rc.h"

src/main/fc/fc_rc.c

@@ -17,6 +17,7 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <math.h>
 
 #include "platform.h"
 
@@ -29,7 +30,6 @@
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"
-#include "fc/rc_curves.h"
 #include "fc/runtime_config.h"
 #include "fc/fc_rc.h"
 #include "fc/fc_core.h"
@@ -266,7 +266,14 @@ void updateRcCommands(void)
         tmp = constrain(rcData[THROTTLE], rxConfig()->mincheck, PWM_RANGE_MAX);
         tmp = (uint32_t)(tmp - rxConfig()->mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - rxConfig()->mincheck);
     }
-    rcCommand[THROTTLE] = rcLookupThrottle(tmp);
+
+    if (currentControlRateProfile->thrExpo8) {
+        float expof = currentControlRateProfile->thrExpo8 / 100.0f;
+        float tmpf = (tmp  / (PWM_RANGE_MAX - PWM_RANGE_MIN));
+        tmp = lrintf(tmp * sq(tmpf) * expof + tmp * (1-expof));
+    }
+
+    rcCommand[THROTTLE] = tmp + (PWM_RANGE_MAX - PWM_RANGE_MIN);
 
     if (feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH) && !failsafeIsActive()) {
         fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);

src/main/fc/rc_controls.c

@@ -37,7 +37,6 @@
 #include "fc/config.h"
 #include "fc/fc_core.h"
 #include "fc/rc_controls.h"
-#include "fc/rc_curves.h"
 #include "fc/runtime_config.h"
 
 #include "io/gps.h"
@@ -524,7 +523,6 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
         case ADJUSTMENT_THROTTLE_EXPO:
             newValue = constrain((int)controlRateConfig->thrExpo8 + delta, 0, 100); // FIXME magic numbers repeated in cli.c
             controlRateConfig->thrExpo8 = newValue;
-            generateThrottleCurve(controlRateConfig, motorConfig);
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_THROTTLE_EXPO, newValue);
         break;
         case ADJUSTMENT_PITCH_ROLL_RATE:

src/main/fc/rc_curves.c

@@ -1,60 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdbool.h>
-#include <stdint.h>
-
-#include "platform.h"
-
-#include "config/feature.h"
-
-#include "io/motors.h"
-
-#include "fc/config.h"
-#include "fc/rc_curves.h"
-#include "fc/rc_controls.h"
-
-#include "rx/rx.h"
-
-
-#define THROTTLE_LOOKUP_LENGTH 12
-static int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH];    // lookup table for expo & mid THROTTLE
-
-void generateThrottleCurve(controlRateConfig_t *controlRateConfig, motorConfig_t *motorConfig)
-{
-    uint8_t i;
-    uint16_t minThrottle = (feature(FEATURE_3D && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) ? PWM_RANGE_MIN : motorConfig->minthrottle);
-
-    for (i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
-        int16_t tmp = 10 * i - controlRateConfig->thrMid8;
-        uint8_t y = 1;
-        if (tmp > 0)
-            y = 100 - controlRateConfig->thrMid8;
-        if (tmp < 0)
-            y = controlRateConfig->thrMid8;
-        lookupThrottleRC[i] = 10 * controlRateConfig->thrMid8 + tmp * (100 - controlRateConfig->thrExpo8 + (int32_t) controlRateConfig->thrExpo8 * (tmp * tmp) / (y * y)) / 10;
-        lookupThrottleRC[i] = minThrottle + (int32_t) (motorConfig->maxthrottle - minThrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
-    }
-}
-
-int16_t rcLookupThrottle(int32_t tmp)
-{
-    const int32_t tmp2 = tmp / 100;
-    // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
-    return lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100;
-}
-

src/main/fc/rc_curves.h

@@ -1,25 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-struct controlRateConfig_s;
-struct motorConfig_s;
-void generateThrottleCurve(struct controlRateConfig_s *controlRateConfig, struct motorConfig_s *motorConfig);
-
-int16_t rcLookupThrottle(int32_t tmp);
-