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Merge pull request #6402 from ianrmurphy/3.4.0-rate-limit

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CLI configurable limits for rates
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Michael Keller 2018-09-05 08:33:30 +12:00 • committed by GitHub
commit ad16f2db0f
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6 changed files with 22 additions and 5 deletions
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3
src/main/blackbox/blackbox.c
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@ -1254,6 +1254,9 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("rates", "%d,%d,%d", currentControlRateProfile->rates[ROLL], BLACKBOX_PRINT_HEADER_LINE("rates", "%d,%d,%d", currentControlRateProfile->rates[ROLL],
currentControlRateProfile->rates[PITCH], currentControlRateProfile->rates[PITCH],
currentControlRateProfile->rates[YAW]); currentControlRateProfile->rates[YAW]);
BLACKBOX_PRINT_HEADER_LINE("rate_limits", "%d,%d,%d", currentControlRateProfile->rate_limit[ROLL],
currentControlRateProfile->rate_limit[PITCH],
currentControlRateProfile->rate_limit[YAW]);
BLACKBOX_PRINT_HEADER_LINE("rollPID", "%d,%d,%d", currentPidProfile->pid[PID_ROLL].P, BLACKBOX_PRINT_HEADER_LINE("rollPID", "%d,%d,%d", currentPidProfile->pid[PID_ROLL].P,
currentPidProfile->pid[PID_ROLL].I, currentPidProfile->pid[PID_ROLL].I,
currentPidProfile->pid[PID_ROLL].D); currentPidProfile->pid[PID_ROLL].D);

6
src/main/fc/controlrate_profile.c
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@ -33,6 +33,7 @@
#include "fc/config.h" #include "fc/config.h"
#include "fc/controlrate_profile.h" #include "fc/controlrate_profile.h"
#include "fc/rc.h" #include "fc/rc.h"
#include "fc/rc_controls.h"
controlRateConfig_t *currentControlRateProfile; controlRateConfig_t *currentControlRateProfile;
@ -57,7 +58,10 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
.rates[FD_PITCH] = 70, .rates[FD_PITCH] = 70,
.rates[FD_YAW] = 70, .rates[FD_YAW] = 70,
.throttle_limit_type = THROTTLE_LIMIT_TYPE_OFF, .throttle_limit_type = THROTTLE_LIMIT_TYPE_OFF,
.throttle_limit_percent = 100 .throttle_limit_percent = 100,
.rate_limit[FD_ROLL] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
.rate_limit[FD_PITCH] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
.rate_limit[FD_YAW] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX
); );
} }
} }

1
src/main/fc/controlrate_profile.h
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@ -48,6 +48,7 @@ typedef struct controlRateConfig_s {
uint16_t tpa_breakpoint; // Breakpoint where TPA is activated uint16_t tpa_breakpoint; // Breakpoint where TPA is activated
uint8_t throttle_limit_type; // Sets the throttle limiting type - off, scale or clip uint8_t throttle_limit_type; // Sets the throttle limiting type - off, scale or clip
uint8_t throttle_limit_percent; // Sets the maximum pilot commanded throttle limit uint8_t throttle_limit_percent; // Sets the maximum pilot commanded throttle limit
uint16_t rate_limit[3]; // Sets the maximum rate for the axes
} controlRateConfig_t; } controlRateConfig_t;
PG_DECLARE_ARRAY(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles); PG_DECLARE_ARRAY(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);

11
src/main/fc/rc.c
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@ -111,7 +111,9 @@ static int16_t rcLookupThrottle(int32_t tmp)
return lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; 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 #define RC_RATE_INCREMENTAL 14.54f
float applyBetaflightRates(const int axis, float rcCommandf, const float rcCommandfAbs) float applyBetaflightRates(const int axis, float rcCommandf, const float rcCommandfAbs)
@ -169,7 +171,8 @@ static void calculateSetpointRate(int axis)
angleRate = applyRates(axis, rcCommandf, rcCommandfAbs); angleRate = applyRates(axis, rcCommandf, rcCommandfAbs);
} }
setpointRate[axis] = constrainf(angleRate, -SETPOINT_RATE_LIMIT, SETPOINT_RATE_LIMIT); // Rate limit protection (deg/sec) // Rate limit from profile (deg/sec)
setpointRate[axis] = constrainf(angleRate, -1.0f * currentControlRateProfile->rate_limit[axis], 1.0f * currentControlRateProfile->rate_limit[axis]);
DEBUG_SET(DEBUG_ANGLERATE, axis, angleRate); DEBUG_SET(DEBUG_ANGLERATE, axis, angleRate);
} }
@ -189,8 +192,8 @@ static void scaleRcCommandToFpvCamAngle(void)
float roll = setpointRate[ROLL]; float roll = setpointRate[ROLL];
float yaw = setpointRate[YAW]; float yaw = setpointRate[YAW];
setpointRate[ROLL] = constrainf(roll * cosFactor - yaw * 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, SETPOINT_RATE_LIMIT); setpointRate[YAW] = constrainf(yaw * cosFactor + roll * sinFactor, -SETPOINT_RATE_LIMIT * 1.0f, SETPOINT_RATE_LIMIT * 1.0f);
} }
#define THROTTLE_BUFFER_MAX 20 #define THROTTLE_BUFFER_MAX 20

3
src/main/fc/rc_controls.h
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@ -100,6 +100,9 @@ typedef enum {
#define CONTROL_RATE_CONFIG_RC_RATES_MAX 255 #define CONTROL_RATE_CONFIG_RC_RATES_MAX 255
#define CONTROL_RATE_CONFIG_RATE_LIMIT_MIN 200
#define CONTROL_RATE_CONFIG_RATE_LIMIT_MAX 1998
// (Super) rates are constrained to [0, 100] for Betaflight rates, so values higher than 100 won't make a difference. Range extended for RaceFlight rates. // (Super) rates are constrained to [0, 100] for Betaflight rates, so values higher than 100 won't make a difference. Range extended for RaceFlight rates.
#define CONTROL_RATE_CONFIG_RATE_MAX 255 #define CONTROL_RATE_CONFIG_RATE_MAX 255

3
src/main/interface/settings.c
View file

@ -749,6 +749,9 @@ const clivalue_t valueTable[] = {
{ "tpa_breakpoint", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, tpa_breakpoint) }, { "tpa_breakpoint", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, tpa_breakpoint) },
{ "throttle_limit_type", VAR_UINT8 | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_THROTTLE_LIMIT_TYPE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, throttle_limit_type) }, { "throttle_limit_type", VAR_UINT8 | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_THROTTLE_LIMIT_TYPE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, throttle_limit_type) },
{ "throttle_limit_percent", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 25, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, throttle_limit_percent) }, { "throttle_limit_percent", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 25, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, throttle_limit_percent) },
{ "roll_rate_limit", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmax = { CONTROL_RATE_CONFIG_RATE_LIMIT_MIN, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rate_limit[FD_ROLL]) },
{ "pitch_rate_limit", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmax = { CONTROL_RATE_CONFIG_RATE_LIMIT_MIN, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rate_limit[FD_PITCH]) },
{ "yaw_rate_limit", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmax = { CONTROL_RATE_CONFIG_RATE_LIMIT_MIN, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rate_limit[FD_YAW]) },
// PG_SERIAL_CONFIG // PG_SERIAL_CONFIG
{ "reboot_character", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 48, 126 }, PG_SERIAL_CONFIG, offsetof(serialConfig_t, reboot_character) }, { "reboot_character", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 48, 126 }, PG_SERIAL_CONFIG, offsetof(serialConfig_t, reboot_character) },