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Code Issues Wiki Activity

Restore multiwii throttle curve

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This commit is contained in:
borisbstyle 2017-02-06 23:48:01 +01:00
parent 428f39341c
commit 80c0e32660
5 changed files with 35 additions and 7 deletions
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3
src/main/fc/config.c
View file

@ -53,6 +53,7 @@
#include "fc/config.h"
#include "fc/rc_controls.h"
#include "fc/fc_rc.h"
#include "fc/runtime_config.h"
#include "sensors/sensors.h"
@ -883,6 +884,8 @@ static void resetConf(void)
void activateConfig(void)
{
generateThrottleCurve();
resetAdjustmentStates();
useRcControlsConfig(

2
src/main/fc/fc_msp.c
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@ -52,6 +52,7 @@
#include "fc/config.h"
#include "fc/fc_core.h"
#include "fc/fc_msp.h"
#include "fc/fc_rc.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
@ -1399,6 +1400,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (dataSize >= 12) {
currentControlRateProfile->rcYawRate8 = sbufReadU8(src);
}
generateThrottleCurve();
} else {
return MSP_RESULT_ERROR;
}

34
src/main/fc/fc_rc.c
View file

@ -63,6 +63,32 @@ float getThrottlePIDAttenuation(void) {
return throttlePIDAttenuation;
}
#define THROTTLE_LOOKUP_LENGTH 12
static int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE
void generateThrottleCurve(void)
{
uint8_t i;
for (i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
int16_t tmp = 10 * i - currentControlRateProfile->thrMid8;
uint8_t y = 1;
if (tmp > 0)
y = 100 - currentControlRateProfile->thrMid8;
if (tmp < 0)
y = currentControlRateProfile->thrMid8;
lookupThrottleRC[i] = 10 * currentControlRateProfile->thrMid8 + tmp * (100 - currentControlRateProfile->thrExpo8 + (int32_t) currentControlRateProfile->thrExpo8 * (tmp * tmp) / (y * y)) / 10;
lookupThrottleRC[i] = PWM_RANGE_MIN + (PWM_RANGE_MAX - PWM_RANGE_MIN) * 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;
}
#define SETPOINT_RATE_LIMIT 1998.0f
#define RC_RATE_INCREMENTAL 14.54f
@ -269,13 +295,7 @@ void updateRcCommands(void)
tmp = (uint32_t)(tmp - rxConfig()->mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - rxConfig()->mincheck);
}
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);
rcLookupThrottle(tmp);
if (feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH) && !failsafeIsActive()) {
fix12_t throttleScaler = qConstruct(rcCommand[THROTTLE] - 1000, 1000);

1
src/main/fc/fc_rc.h
View file

@ -23,3 +23,4 @@ float getRcDeflectionAbs(int axis);
float getThrottlePIDAttenuation(void);
void updateRcCommands(void);
void resetYawAxis(void);
void generateThrottleCurve(void);

2
src/main/fc/rc_controls.c
View file

@ -37,6 +37,7 @@
#include "fc/config.h"
#include "fc/fc_core.h"
#include "fc/rc_controls.h"
#include "fc/fc_rc.h"
#include "fc/runtime_config.h"
#include "io/gps.h"
@ -522,6 +523,7 @@ 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();
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_THROTTLE_EXPO, newValue);
break;
case ADJUSTMENT_PITCH_ROLL_RATE: