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Merge pull request #9579 from IllusionFpv/max-rate-independent-of-deadband

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Max rate independent of deadband
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Michael Keller 2020-03-15 10:15:58 +13:00 • committed by GitHub
commit 9d3a48b1b0
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1 changed files with 18 additions and 2 deletions
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20
src/main/fc/rc.c
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@ -71,6 +71,8 @@ static bool reverseMotors = false;
static applyRatesFn *applyRates; static applyRatesFn *applyRates;
static uint16_t currentRxRefreshRate; static uint16_t currentRxRefreshRate;
static bool isRxDataNew = false; static bool isRxDataNew = false;
static float rcCommandDivider = 500.0f;
static float rcCommandYawDivider = 500.0f;
FAST_RAM_ZERO_INIT uint8_t interpolationChannels; FAST_RAM_ZERO_INIT uint8_t interpolationChannels;
static FAST_RAM_ZERO_INIT uint32_t rcFrameNumber; static FAST_RAM_ZERO_INIT uint32_t rcFrameNumber;
@ -245,7 +247,13 @@ static void calculateSetpointRate(int axis)
#endif #endif
{ {
// scale rcCommandf to range [-1.0, 1.0] // scale rcCommandf to range [-1.0, 1.0]
float rcCommandf = rcCommand[axis] / 500.0f; float rcCommandf;
if (axis == FD_YAW) {
rcCommandf = rcCommand[axis] / rcCommandYawDivider;
} else {
rcCommandf = rcCommand[axis] / rcCommandDivider;
}
rcDeflection[axis] = rcCommandf; rcDeflection[axis] = rcCommandf;
const float rcCommandfAbs = fabsf(rcCommandf); const float rcCommandfAbs = fabsf(rcCommandf);
rcDeflectionAbs[axis] = rcCommandfAbs; rcDeflectionAbs[axis] = rcCommandfAbs;
@ -684,7 +692,12 @@ FAST_CODE void processRcCommand(void)
if (isRxDataNew) { if (isRxDataNew) {
for (int i = FD_ROLL; i <= FD_YAW; i++) { for (int i = FD_ROLL; i <= FD_YAW; i++) {
oldRcCommand[i] = rcCommand[i]; oldRcCommand[i] = rcCommand[i];
const float rcCommandf = rcCommand[i] / 500.0f; float rcCommandf;
if (i == FD_YAW) {
rcCommandf = rcCommand[i] / rcCommandYawDivider;
} else {
rcCommandf = rcCommand[i] / rcCommandDivider;
}
const float rcCommandfAbs = fabsf(rcCommandf); const float rcCommandfAbs = fabsf(rcCommandf);
rawSetpoint[i] = applyRates(i, rcCommandf, rcCommandfAbs); rawSetpoint[i] = applyRates(i, rcCommandf, rcCommandfAbs);
rawDeflection[i] = rcCommandf; rawDeflection[i] = rcCommandf;
@ -835,6 +848,9 @@ bool isMotorsReversed(void)
void initRcProcessing(void) void initRcProcessing(void)
{ {
rcCommandDivider = 500.0f - rcControlsConfig()->deadband;
rcCommandYawDivider = 500.0f - rcControlsConfig()->yaw_deadband;
for (int i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) { for (int i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
const int16_t tmp = 10 * i - currentControlRateProfile->thrMid8; const int16_t tmp = 10 * i - currentControlRateProfile->thrMid8;
uint8_t y = 1; uint8_t y = 1;