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Merge pull request #4992 from mikeller/fix_selectable_rates

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Fixed Betaflight rates calculation. Moved `rates_type` into rate profile config in CLI.
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Michael Keller 2018-01-20 16:48:06 +13:00 • committed by GitHub
commit b579ef2703
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2 changed files with 7 additions and 5 deletions
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10
src/main/fc/fc_rc.c
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@ -46,7 +46,7 @@
#include "sensors/battery.h" #include "sensors/battery.h"
typedef float (applyRatesFn)(int axis, float rcCommandf, const float rcCommandfAbs); typedef float (applyRatesFn)(const int axis, float rcCommandf, const float rcCommandfAbs);
static float setpointRate[3], rcDeflection[3], rcDeflectionAbs[3]; static float setpointRate[3], rcDeflection[3], rcDeflectionAbs[3];
static float throttlePIDAttenuation; static float throttlePIDAttenuation;
@ -86,14 +86,15 @@ static int16_t rcLookupThrottle(int32_t tmp)
#define SETPOINT_RATE_LIMIT 1998.0f #define SETPOINT_RATE_LIMIT 1998.0f
#define RC_RATE_INCREMENTAL 14.54f #define RC_RATE_INCREMENTAL 14.54f
float applyBetaflightRates(int axis, float rcCommandf, const float rcCommandfAbs) float applyBetaflightRates(const int axis, float rcCommandf, const float rcCommandfAbs)
{ {
if (currentControlRateProfile->rcExpo[axis]) { if (currentControlRateProfile->rcExpo[axis]) {
const float expof = currentControlRateProfile->rcExpo[axis] / 100.0f; const float expof = currentControlRateProfile->rcExpo[axis] / 100.0f;
rcCommandf = rcCommandf * power3(rcCommandfAbs) * expof + rcCommandf * (1 - expof); rcCommandf = rcCommandf * power3(rcCommandfAbs) * expof + rcCommandf * (1 - expof);
} }
float angleRate = 200.0f * currentControlRateProfile->rcRates[axis] * rcCommandf; const float rcRate = currentControlRateProfile->rcRates[axis] / 100.0f;
float angleRate = 200.0f * rcRate * rcCommandf;
if (currentControlRateProfile->rates[axis]) { if (currentControlRateProfile->rates[axis]) {
const float rcSuperfactor = 1.0f / (constrainf(1.0f - (rcCommandfAbs * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f)); const float rcSuperfactor = 1.0f / (constrainf(1.0f - (rcCommandfAbs * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f));
angleRate *= rcSuperfactor; angleRate *= rcSuperfactor;
@ -102,7 +103,7 @@ float applyBetaflightRates(int axis, float rcCommandf, const float rcCommandfAbs
return angleRate; return angleRate;
} }
float applyRaceFlightRates(int axis, float rcCommandf, const float rcCommandfAbs) float applyRaceFlightRates(const int axis, float rcCommandf, const float rcCommandfAbs)
{ {
UNUSED(rcCommandfAbs); UNUSED(rcCommandfAbs);
@ -387,6 +388,7 @@ void initRcProcessing(void)
switch (currentControlRateProfile->rates_type) { switch (currentControlRateProfile->rates_type) {
case RATES_TYPE_BETAFLIGHT: case RATES_TYPE_BETAFLIGHT:
default:
applyRates = applyBetaflightRates; applyRates = applyBetaflightRates;
break; break;

2
src/main/interface/settings.c
View file

@ -557,7 +557,7 @@ const clivalue_t valueTable[] = {
// PG_CONTROLRATE_PROFILES // PG_CONTROLRATE_PROFILES
{ "thr_mid", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrMid8) }, { "thr_mid", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrMid8) },
{ "thr_expo", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrExpo8) }, { "thr_expo", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrExpo8) },
{ "rates_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RATES_TYPE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates_type) }, { "rates_type", VAR_UINT8 | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RATES_TYPE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates_type) },
{ "roll_rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_RC_RATES_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcRates[FD_ROLL]) }, { "roll_rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_RC_RATES_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcRates[FD_ROLL]) },
{ "pitch_rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_RC_RATES_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcRates[FD_PITCH]) }, { "pitch_rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_RC_RATES_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcRates[FD_PITCH]) },
{ "yaw_rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_RC_RATES_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcRates[FD_YAW]) }, { "yaw_rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_RC_RATES_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcRates[FD_YAW]) },