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Merge pull request #9495 from ctzsnooze/Actual-Rates

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New Actual Rates model : set rates in deg/s, independently of each other
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Michael Keller 2020-03-04 12:54:13 +13:00 • committed by GitHub
commit f33dd32c33
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3 changed files with 18 additions and 1 deletions
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2
src/main/cli/settings.c
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@ -336,7 +336,7 @@ static const char * const lookupTableGyroOverflowCheck[] = {
#endif #endif
static const char * const lookupTableRatesType[] = { static const char * const lookupTableRatesType[] = {
"BETAFLIGHT", "RACEFLIGHT", "KISS" "BETAFLIGHT", "RACEFLIGHT", "KISS", "ACTUAL"
}; };
#ifdef USE_OVERCLOCK #ifdef USE_OVERCLOCK

1
src/main/fc/controlrate_profile.h
View file

@ -28,6 +28,7 @@ typedef enum {
RATES_TYPE_BETAFLIGHT = 0, RATES_TYPE_BETAFLIGHT = 0,
RATES_TYPE_RACEFLIGHT, RATES_TYPE_RACEFLIGHT,
RATES_TYPE_KISS, RATES_TYPE_KISS,
RATES_TYPE_ACTUAL,
} ratesType_e; } ratesType_e;
typedef enum { typedef enum {

16
src/main/fc/rc.c
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@ -193,6 +193,18 @@ float applyKissRates(const int axis, float rcCommandf, const float rcCommandfAbs
return kissAngle; 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] * 10.0f;
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) float applyCurve(int axis, float deflection)
{ {
return applyRates(axis, deflection, fabsf(deflection)); return applyRates(axis, deflection, fabsf(deflection));
@ -816,6 +828,10 @@ void initRcProcessing(void)
case RATES_TYPE_KISS: case RATES_TYPE_KISS:
applyRates = applyKissRates; applyRates = applyKissRates;
break;
case RATES_TYPE_ACTUAL:
applyRates = applyActualRates;
break; break;
} }