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Added selectable RaceFlight rates.

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This commit is contained in:
mikeller 2018-01-18 01:48:05 +13:00
parent bca7b905b5
commit ee65eba88d
21 changed files with 260 additions and 135 deletions
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47
src/main/interface/msp.c
View file

@ -880,8 +880,8 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
break;
case MSP_RC_TUNING:
sbufWriteU8(dst, currentControlRateProfile->rcRate8);
sbufWriteU8(dst, currentControlRateProfile->rcExpo8);
sbufWriteU8(dst, currentControlRateProfile->rcRates[FD_ROLL]);
sbufWriteU8(dst, currentControlRateProfile->rcExpo[FD_ROLL]);
for (int i = 0 ; i < 3; i++) {
sbufWriteU8(dst, currentControlRateProfile->rates[i]); // R,P,Y see flight_dynamics_index_t
}
@ -889,8 +889,10 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, currentControlRateProfile->thrMid8);
sbufWriteU8(dst, currentControlRateProfile->thrExpo8);
sbufWriteU16(dst, currentControlRateProfile->tpa_breakpoint);
sbufWriteU8(dst, currentControlRateProfile->rcYawExpo8);
sbufWriteU8(dst, currentControlRateProfile->rcYawRate8);
sbufWriteU8(dst, currentControlRateProfile->rcExpo[FD_YAW]);
sbufWriteU8(dst, currentControlRateProfile->rcRates[FD_YAW]);
sbufWriteU8(dst, currentControlRateProfile->rcRates[FD_PITCH]);
sbufWriteU8(dst, currentControlRateProfile->rcExpo[FD_PITCH]);
break;
case MSP_PID:
@ -1473,24 +1475,45 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_RC_TUNING:
if (sbufBytesRemaining(src) >= 10) {
currentControlRateProfile->rcRate8 = sbufReadU8(src);
currentControlRateProfile->rcExpo8 = sbufReadU8(src);
for (int i = 0; i < 3; i++) {
value = sbufReadU8(src);
currentControlRateProfile->rates[i] = MIN(value, i == FD_YAW ? CONTROL_RATE_CONFIG_YAW_RATE_MAX : CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
value = sbufReadU8(src);
if (currentControlRateProfile->rcRates[FD_PITCH] == currentControlRateProfile->rcRates[FD_ROLL]) {
currentControlRateProfile->rcRates[FD_PITCH] = value;
}
currentControlRateProfile->rcRates[FD_ROLL] = value;
value = sbufReadU8(src);
if (currentControlRateProfile->rcExpo[FD_PITCH] == currentControlRateProfile->rcExpo[FD_ROLL]) {
currentControlRateProfile->rcExpo[FD_PITCH] = value;
}
currentControlRateProfile->rcExpo[FD_ROLL] = value;
for (int i = 0; i < 3; i++) {
currentControlRateProfile->rates[i] = sbufReadU8(src);
}
value = sbufReadU8(src);
currentControlRateProfile->dynThrPID = MIN(value, CONTROL_RATE_CONFIG_TPA_MAX);
currentControlRateProfile->thrMid8 = sbufReadU8(src);
currentControlRateProfile->thrExpo8 = sbufReadU8(src);
currentControlRateProfile->tpa_breakpoint = sbufReadU16(src);
if (sbufBytesRemaining(src) >= 1) {
currentControlRateProfile->rcYawExpo8 = sbufReadU8(src);
currentControlRateProfile->rcExpo[FD_YAW] = sbufReadU8(src);
}
if (sbufBytesRemaining(src) >= 1) {
currentControlRateProfile->rcYawRate8 = sbufReadU8(src);
currentControlRateProfile->rcRates[FD_YAW] = sbufReadU8(src);
}
generateThrottleCurve();
if (sbufBytesRemaining(src) >= 1) {
currentControlRateProfile->rcRates[FD_PITCH] = sbufReadU8(src);
}
if (sbufBytesRemaining(src) >= 1) {
currentControlRateProfile->rcExpo[FD_PITCH] = sbufReadU8(src);
}
initRcProcessing();
} else {
return MSP_RESULT_ERROR;
}

22
src/main/interface/settings.c
View file

@ -284,6 +284,10 @@ static const char * const lookupTableGyroOverflowCheck[] = {
};
#endif
static const char * const lookupTableRatesType[] = {
"BETAFLIGHT", "RACEFLIGHT"
};
const lookupTableEntry_t lookupTables[] = {
{ lookupTableOffOn, sizeof(lookupTableOffOn) / sizeof(char *) },
{ lookupTableUnit, sizeof(lookupTableUnit) / sizeof(char *) },
@ -340,6 +344,7 @@ const lookupTableEntry_t lookupTables[] = {
#ifdef USE_GYRO_OVERFLOW_CHECK
{ lookupTableGyroOverflowCheck, sizeof(lookupTableGyroOverflowCheck) / sizeof(char *) },
#endif
{ lookupTableRatesType, sizeof(lookupTableRatesType) / sizeof(char *) },
};
const clivalue_t valueTable[] = {
@ -549,15 +554,18 @@ const clivalue_t valueTable[] = {
#endif
// PG_CONTROLRATE_PROFILES
{ "rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, 255 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcRate8) },
{ "rc_rate_yaw", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, 255 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcYawRate8) },
{ "rc_expo", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcExpo8) },
{ "rc_expo_yaw", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcYawExpo8) },
{ "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) },
{ "roll_srate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_ROLL]) },
{ "pitch_srate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_PITCH]) },
{ "yaw_srate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_YAW]) },
{ "rates_type", VAR_UINT8 | PROFILE_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]) },
{ "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]) },
{ "roll_expo", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_RC_EXPO_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcExpo[FD_ROLL]) },
{ "pitch_expo", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_RC_EXPO_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcExpo[FD_PITCH]) },
{ "yaw_expo", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_RC_EXPO_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcExpo[FD_YAW]) },
{ "roll_srate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_ROLL]) },
{ "pitch_srate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_PITCH]) },
{ "yaw_srate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_YAW]) },
{ "tpa_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_TPA_MAX}, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, dynThrPID) },
{ "tpa_breakpoint", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, tpa_breakpoint) },

1
src/main/interface/settings.h
View file

@ -78,6 +78,7 @@ typedef enum {
#ifdef USE_GYRO_OVERFLOW_CHECK
TABLE_GYRO_OVERFLOW_CHECK,
#endif
TABLE_RATES_TYPE,
LOOKUP_TABLE_COUNT
} lookupTableIndex_e;