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Decouple roll and pitch rates. MSP clients take note of updated

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MSP_RC_TUNING/MSP_SET_RC_TUNING commands.
This commit is contained in:
Dominic Clifton 2015-03-07 15:09:42 +00:00
parent 26bb86898e
commit b595b49ca8
9 changed files with 70 additions and 51 deletions
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10
src/main/io/rc_controls.c
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@ -402,12 +402,14 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
generateThrottleCurve(controlRateConfig, escAndServoConfig);
break;
case ADJUSTMENT_PITCH_ROLL_RATE:
newValue = (int)controlRateConfig->rollPitchRate + delta;
controlRateConfig->rollPitchRate = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newValue = (int)controlRateConfig->rates[FD_PITCH] + delta;
controlRateConfig->rates[FD_PITCH] = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newValue = (int)controlRateConfig->rates[FD_ROLL] + delta;
controlRateConfig->rates[FD_ROLL] = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
break;
case ADJUSTMENT_YAW_RATE:
newValue = (int)controlRateConfig->yawRate + delta;
controlRateConfig->yawRate = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
newValue = (int)controlRateConfig->rates[FD_YAW] + delta;
controlRateConfig->rates[FD_YAW] = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
break;
case ADJUSTMENT_PITCH_ROLL_P:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {