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Change rcInput to store actual stick input

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borisbstyle 2016-09-03 02:20:20 +02:00 • committed by GitHub
parent 17a1e2b889
commit b6b0e57b52
1 changed files with 4 additions and 6 deletions
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10
src/main/mw.c
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@ -189,19 +189,17 @@ float calculateSetpointRate(int axis, int16_t rc) {
if (rcRate > 2.0f) rcRate = rcRate + (RC_RATE_INCREMENTAL * (rcRate - 2.0f)); if (rcRate > 2.0f) rcRate = rcRate + (RC_RATE_INCREMENTAL * (rcRate - 2.0f));
rcCommandf = rc / 500.0f; rcCommandf = rc / 500.0f;
rcInput[axis] = ABS(rcCommandf);
if (rcExpo) { if (rcExpo) {
float expof = rcExpo / 100.0f; float expof = rcExpo / 100.0f;
float absRc = ABS(rcCommandf); rcCommandf = rcCommandf * (expof * (powerf(rcInput[axis], currentControlRateProfile->rcExpoPwr)) + rcInput[axis]*(1-expof));
rcCommandf = rcCommandf * (expof * (powerf(absRc, currentControlRateProfile->rcExpoPwr)) + absRc*(1-expof));
} }
rcInput[axis] = ABS(rcCommandf);
angleRate = 200.0f * rcRate * rcCommandf; angleRate = 200.0f * rcRate * rcCommandf;
if (currentControlRateProfile->rates[axis]) { if (currentControlRateProfile->rates[axis]) {
rcSuperfactor = 1.0f / (constrainf(1.0f - (rcInput[axis] * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f)); rcSuperfactor = 1.0f / (constrainf(1.0f - (ABS(rcCommandf) * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f));
angleRate *= rcSuperfactor; angleRate *= rcSuperfactor;
} }
@ -210,7 +208,7 @@ float calculateSetpointRate(int axis, int16_t rc) {
} }
if (currentProfile->pidProfile.pidController == PID_CONTROLLER_LEGACY) if (currentProfile->pidProfile.pidController == PID_CONTROLLER_LEGACY)
return constrainf(angleRate * 4.1f, -8190.0f, 8190.0f); // Rate limit protection return constrainf(angleRate * 4.1f, -8190.0f, 8190.0f); // Rate limit protection
else else
return constrainf(angleRate, -1998.0f, 1998.0f); // Rate limit protection (deg/sec) return constrainf(angleRate, -1998.0f, 1998.0f); // Rate limit protection (deg/sec)
} }