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Code Issues Wiki Activity

rc_rate setting removed

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2016-05-13 22:07:28 +02:00
parent 7eb2419ef9
commit 0f19dcc70f
9 changed files with 9 additions and 32 deletions
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1
docs/Cli.md
View file

@ -187,7 +187,6 @@ Re-apply any new defaults as desired.
| `yaw_motor_direction` | | -1 | 1 | 1 | Profile | INT8 |
| `tri_unarmed_servo` | On tricopter mix only, if this is set to 1, servo will always be correcting regardless of armed state. to disable this, set it to 0. | OFF | ON | ON | Profile | INT8 |
| `default_rate_profile` | Default = profile number | 0 | 2 | | Profile | UINT8 |
| `rc_rate` | | 0 | 250 | 90 | Rate Profile | UINT8 |
| `rc_expo` | | 0 | 100 | 65 | Rate Profile | UINT8 |
| `rc_yaw_expo` | | 0 | 100 | 0 | Rate Profile | UINT8 |
| `thr_mid` | | 0 | 100 | 50 | Rate Profile | UINT8 |

3
docs/Profiles.md
View file

@ -31,7 +31,7 @@ Three rate profiles are supported.
Rate profiles can be selected while flying using the inflight adjustments feature.
Each normal profile has a setting called 'default_rate_profile`. When a profile is activated the
corresponding rate profile is also activated.
corresponding rate profile is also activated.
Profile 0 has a default rate profile of 0.
Profile 1 has a default rate profile of 1.
@ -54,7 +54,6 @@ e.g
# rateprofile
rateprofile 0
set rc_rate = 90
set rc_expo = 65
set thr_mid = 50
set thr_expo = 0

12
src/main/blackbox/blackbox.c
View file

@ -685,7 +685,7 @@ static void writeInterframe(void)
arraySubInt32(deltas, blackboxCurrent->axisPID_P, blackboxLast->axisPID_P, XYZ_AXIS_COUNT);
blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT);
/*
/*
* The PID I field changes very slowly, most of the time +-2, so use an encoding
* that can pack all three fields into one byte in that situation.
*/
@ -920,7 +920,7 @@ void startBlackbox(void)
* cache those now.
*/
blackboxBuildConditionCache();
blackboxModeActivationConditionPresent = isModeActivationConditionPresent(currentProfile->modeActivationConditions, BOXBLACKBOX);
blackboxIteration = 0;
@ -1228,7 +1228,7 @@ static bool blackboxWriteSysinfo()
blackboxPrintfHeaderLine("P interval:%d/%d", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
break;
case 4:
blackboxPrintfHeaderLine("rcRate:%d", masterConfig.controlRateProfiles[masterConfig.current_profile_index].rcRate8);
blackboxPrintfHeaderLine("rcRate:%d", 100); //For compatibility reasons write rc_rate 100
break;
case 5:
blackboxPrintfHeaderLine("minthrottle:%d", masterConfig.escAndServoConfig.minthrottle);
@ -1323,7 +1323,7 @@ static void blackboxCheckAndLogArmingBeep()
}
}
/*
/*
* Use the user's num/denom settings to decide if the P-frame of the given index should be logged, allowing the user to control
* the portion of logged loop iterations.
*/
@ -1367,7 +1367,7 @@ static void blackboxLogIteration()
writeIntraframe();
} else {
blackboxCheckAndLogArmingBeep();
if (blackboxShouldLogPFrame(blackboxPFrameIndex)) {
/*
* We assume that slow frames are only interesting in that they aid the interpretation of the main data stream.
@ -1499,7 +1499,7 @@ void handleBlackbox(void)
blackboxLogEvent(FLIGHT_LOG_EVENT_LOGGING_RESUME, (flightLogEventData_t *) &resume);
blackboxSetState(BLACKBOX_STATE_RUNNING);
blackboxLogIteration();
}

2
src/main/config/config.c
View file

@ -353,7 +353,6 @@ void resetSerialConfig(serialConfig_t *serialConfig)
}
static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
controlRateConfig->rcRate8 = 90;
controlRateConfig->rcExpo8 = 70;
controlRateConfig->thrMid8 = 50;
controlRateConfig->thrExpo8 = 0;
@ -628,7 +627,6 @@ static void resetConf(void)
currentProfile->pidProfile.P8[PITCH] = 36;
masterConfig.failsafeConfig.failsafe_delay = 2;
masterConfig.failsafeConfig.failsafe_off_delay = 0;
currentControlRateProfile->rcRate8 = 130;
currentControlRateProfile->rates[FD_PITCH] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT;
currentControlRateProfile->rates[FD_ROLL] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT;
currentControlRateProfile->rates[FD_YAW] = CONTROL_RATE_CONFIG_YAW_RATE_DEFAULT;

6
src/main/io/rc_controls.c
View file

@ -456,12 +456,6 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
beeperConfirmationBeeps(1);
}
switch(adjustmentFunction) {
case ADJUSTMENT_RC_RATE:
newValue = constrain((int)controlRateConfig->rcRate8 + delta, 0, 250); // FIXME magic numbers repeated in serial_cli.c
controlRateConfig->rcRate8 = newValue;
generateRcCurves(controlRateConfig);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE, newValue);
break;
case ADJUSTMENT_RC_EXPO:
newValue = constrain((int)controlRateConfig->rcExpo8 + delta, 0, 100); // FIXME magic numbers repeated in serial_cli.c
controlRateConfig->rcExpo8 = newValue;

1
src/main/io/rc_controls.h
View file

@ -138,7 +138,6 @@ typedef struct modeActivationCondition_s {
#define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
typedef struct controlRateConfig_s {
uint8_t rcRate8;
uint8_t rcExpo8;
uint8_t thrMid8;
uint8_t thrExpo8;

1
src/main/io/serial_cli.c
View file

@ -670,7 +670,6 @@ const clivalue_t valueTable[] = {
#endif
{ "default_rate_profile", VAR_UINT8 | PROFILE_VALUE , &masterConfig.profile[0].defaultRateProfileIndex, .config.minmax = { 0, MAX_CONTROL_RATE_PROFILE_COUNT - 1 }, 0 },
{ "rc_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcRate8, .config.minmax = { 0, 250 }, 0 },
{ "rc_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcExpo8, .config.minmax = { 0, 100 }, 0 },
{ "rc_yaw_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcYawExpo8, .config.minmax = { 0, 100 }, 0 },
{ "thr_mid", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrMid8, .config.minmax = { 0, 100 }, 0 },

4
src/main/io/serial_msp.c
View file

@ -732,7 +732,7 @@ static bool processOutCommand(uint8_t cmdMSP)
break;
case MSP_RC_TUNING:
headSerialReply(11);
serialize8(currentControlRateProfile->rcRate8);
serialize8(100); //rcRate8 kept for compatibity reasons, this setting is no longer used
serialize8(currentControlRateProfile->rcExpo8);
for (i = 0 ; i < 3; i++) {
serialize8(currentControlRateProfile->rates[i]); // R,P,Y see flight_dynamics_index_t
@ -1215,7 +1215,7 @@ static bool processInCommand(void)
case MSP_SET_RC_TUNING:
if (currentPort->dataSize >= 10) {
currentControlRateProfile->rcRate8 = read8();
read8(); //Read rcRate8, kept for protocol compatibility reasons
currentControlRateProfile->rcExpo8 = read8();
for (i = 0; i < 3; i++) {
rate = read8();

11
src/test/unit/rc_controls_unittest.cc
View file

@ -237,7 +237,6 @@ static const adjustmentConfig_t rateAdjustmentConfig = {
class RcControlsAdjustmentsTest : public ::testing::Test {
protected:
controlRateConfig_t controlRateConfig = {
.rcRate8 = 90,
.rcExpo8 = 0,
.thrMid8 = 0,
.thrExpo8 = 0,
@ -256,7 +255,6 @@ protected:
rxConfig.maxcheck = DEFAULT_MAX_CHECK;
rxConfig.midrc = 1500;
controlRateConfig.rcRate8 = 90;
controlRateConfig.rcExpo8 = 0;
controlRateConfig.thrMid8 = 0;
controlRateConfig.thrExpo8 = 0;
@ -289,7 +287,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsSticksInMiddle)
processRcAdjustments(&controlRateConfig, &rxConfig);
// then
EXPECT_EQ(controlRateConfig.rcRate8, 90);
EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 0);
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 0);
EXPECT_EQ(adjustmentStateMask, 0);
@ -299,7 +296,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
{
// given
controlRateConfig_t controlRateConfig = {
.rcRate8 = 90,
.rcExpo8 = 0,
.thrMid8 = 0,
.thrExpo8 = 0,
@ -344,7 +340,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig, &rxConfig);
// then
EXPECT_EQ(controlRateConfig.rcRate8, 91);
EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 1);
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 1);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
@ -360,7 +355,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
// when
processRcAdjustments(&controlRateConfig, &rxConfig);
EXPECT_EQ(controlRateConfig.rcRate8, 91);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
@ -382,7 +376,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
// when
processRcAdjustments(&controlRateConfig, &rxConfig);
EXPECT_EQ(controlRateConfig.rcRate8, 91);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
@ -403,7 +396,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig, &rxConfig);
// then
EXPECT_EQ(controlRateConfig.rcRate8, 92);
EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 2);
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 2);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
@ -420,7 +412,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig, &rxConfig);
// then
EXPECT_EQ(controlRateConfig.rcRate8, 92);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
//
@ -434,7 +425,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig, &rxConfig);
// then
EXPECT_EQ(controlRateConfig.rcRate8, 92);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
//
@ -450,7 +440,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig, &rxConfig);
// then
EXPECT_EQ(controlRateConfig.rcRate8, 93);
EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 3);
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 3);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);