From b61d641bfc743e3cc58da05b50c869c0e7f59c7c Mon Sep 17 00:00:00 2001
From: ctzsnooze <chris.thompson@sydney.edu.au>
Date: Tue, 18 Feb 2020 10:04:25 +1100
Subject: [PATCH 1/2] Set actual rates in deg/s, independently of each other

Each parameter is independent.
Set actual centre sensitivity and actual max rates.
For:
Centre sensitivity of 200 = rcRate of 1.0; enter as 2.0 in Config, 200 CLI
Max Rate of 800, enter sRate as 0.8 in Config, 80 in CLI
Expo enter as usual, 0.5 approximates no expo, 0 is flatter, 1 is about the same as 0.5 expo usually, but won't change centre sensitivity.
---
 src/main/cli/settings.c           |  2 +-
 src/main/fc/controlrate_profile.h |  1 +
 src/main/fc/rc.c                  | 16 ++++++++++++++++
 3 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index d178d2f856..80b5aae0c2 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -336,7 +336,7 @@ static const char * const lookupTableGyroOverflowCheck[] = {
 #endif
 
 static const char * const lookupTableRatesType[] = {
-    "BETAFLIGHT", "RACEFLIGHT", "KISS"
+    "BETAFLIGHT", "RACEFLIGHT", "KISS", "ACTUAL"
 };
 
 #ifdef USE_OVERCLOCK
diff --git a/src/main/fc/controlrate_profile.h b/src/main/fc/controlrate_profile.h
index 08fd20119b..16ad114392 100644
--- a/src/main/fc/controlrate_profile.h
+++ b/src/main/fc/controlrate_profile.h
@@ -28,6 +28,7 @@ typedef enum {
     RATES_TYPE_BETAFLIGHT = 0,
     RATES_TYPE_RACEFLIGHT,
     RATES_TYPE_KISS,
+    RATES_TYPE_ACTUAL,
 } ratesType_e;
 
 typedef enum {
diff --git a/src/main/fc/rc.c b/src/main/fc/rc.c
index d45729c818..74b2e8ae6c 100644
--- a/src/main/fc/rc.c
+++ b/src/main/fc/rc.c
@@ -193,6 +193,18 @@ float applyKissRates(const int axis, float rcCommandf, const float rcCommandfAbs
     return kissAngle;
 }
 
+float applyActualRates(const int axis, float rcCommandf, const float rcCommandfAbs)
+{
+    float expof = currentControlRateProfile->rcExpo[axis] / 100.0f;
+    expof = rcCommandfAbs * (powerf(rcCommandf, 5) * expof + rcCommandf * (1 - expof));
+
+    const float centerSensitivity = currentControlRateProfile->rcRates[axis];
+    const float stickMovement = MAX(0, currentControlRateProfile->rates[axis] * 10.0f - centerSensitivity);
+    const float angleRate = rcCommandf * centerSensitivity + stickMovement * expof;
+
+    return angleRate;
+}
+
 float applyCurve(int axis, float deflection)
 {
     return applyRates(axis, deflection, fabsf(deflection));
@@ -816,6 +828,10 @@ void initRcProcessing(void)
     case RATES_TYPE_KISS:
         applyRates = applyKissRates;
 
+        break;
+    case RATES_TYPE_ACTUAL:
+        applyRates = applyActualRates;
+
         break;
     }
 

From 19694902fec7197a2d1e14c73a19e70c611a8314 Mon Sep 17 00:00:00 2001
From: ctzsnooze <chris.thompson@sydney.edu.au>
Date: Tue, 25 Feb 2020 12:45:09 +1100
Subject: [PATCH 2/2] SEnsitivity to 10 deg/s on both

---
 src/main/fc/rc.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/fc/rc.c b/src/main/fc/rc.c
index 74b2e8ae6c..cc77a5e268 100644
--- a/src/main/fc/rc.c
+++ b/src/main/fc/rc.c
@@ -198,7 +198,7 @@ float applyActualRates(const int axis, float rcCommandf, const float rcCommandfA
     float expof = currentControlRateProfile->rcExpo[axis] / 100.0f;
     expof = rcCommandfAbs * (powerf(rcCommandf, 5) * expof + rcCommandf * (1 - expof));
 
-    const float centerSensitivity = currentControlRateProfile->rcRates[axis];
+    const float centerSensitivity = currentControlRateProfile->rcRates[axis] * 10.0f;
     const float stickMovement = MAX(0, currentControlRateProfile->rates[axis] * 10.0f - centerSensitivity);
     const float angleRate = rcCommandf * centerSensitivity + stickMovement * expof;