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b61d641bfc
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.
71 lines
2.3 KiB
C
71 lines
2.3 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <stdint.h>
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#include "pg/pg.h"
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typedef enum {
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RATES_TYPE_BETAFLIGHT = 0,
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RATES_TYPE_RACEFLIGHT,
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RATES_TYPE_KISS,
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RATES_TYPE_ACTUAL,
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} ratesType_e;
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typedef enum {
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THROTTLE_LIMIT_TYPE_OFF = 0,
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THROTTLE_LIMIT_TYPE_SCALE,
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THROTTLE_LIMIT_TYPE_CLIP,
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THROTTLE_LIMIT_TYPE_COUNT // must be the last entry
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} throttleLimitType_e;
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typedef enum {
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TPA_MODE_PD,
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TPA_MODE_D
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} tpaMode_e;
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#define MAX_RATE_PROFILE_NAME_LENGTH 8u
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typedef struct controlRateConfig_s {
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uint8_t thrMid8;
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uint8_t thrExpo8;
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uint8_t rates_type;
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uint8_t rcRates[3];
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uint8_t rcExpo[3];
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uint8_t rates[3];
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uint8_t dynThrPID;
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uint16_t tpa_breakpoint; // Breakpoint where TPA is activated
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uint8_t throttle_limit_type; // Sets the throttle limiting type - off, scale or clip
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uint8_t throttle_limit_percent; // Sets the maximum pilot commanded throttle limit
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uint16_t rate_limit[3]; // Sets the maximum rate for the axes
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uint8_t tpaMode; // Controls which PID terms TPA effects
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char profileName[MAX_RATE_PROFILE_NAME_LENGTH + 1]; // Descriptive name for rate profile
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} controlRateConfig_t;
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PG_DECLARE_ARRAY(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);
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extern controlRateConfig_t *currentControlRateProfile;
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void loadControlRateProfile(void);
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void changeControlRateProfile(uint8_t controlRateProfileIndex);
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void copyControlRateProfile(const uint8_t dstControlRateProfileIndex, const uint8_t srcControlRateProfileIndex);
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