diff --git a/docs/Cli.md b/docs/Cli.md index 064812382e..c468b71d45 100644 --- a/docs/Cli.md +++ b/docs/Cli.md @@ -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 | diff --git a/docs/Profiles.md b/docs/Profiles.md index a8fb592e29..4ff574092e 100644 --- a/docs/Profiles.md +++ b/docs/Profiles.md @@ -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 diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c index d0149ed374..841d896e20 100644 --- a/src/main/blackbox/blackbox.c +++ b/src/main/blackbox/blackbox.c @@ -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(); } diff --git a/src/main/config/config.c b/src/main/config/config.c index d6fb64eeb0..44fd94c611 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -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; diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c index a711e109b2..c16691876f 100644 --- a/src/main/io/rc_controls.c +++ b/src/main/io/rc_controls.c @@ -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; diff --git a/src/main/io/rc_controls.h b/src/main/io/rc_controls.h index 1f37692ff4..f7f99516e6 100644 --- a/src/main/io/rc_controls.h +++ b/src/main/io/rc_controls.h @@ -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; diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index 6027ddb2f9..e1fc9f5926 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -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 }, diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c index 111b4d965e..9581748017 100644 --- a/src/main/io/serial_msp.c +++ b/src/main/io/serial_msp.c @@ -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(); diff --git a/src/test/unit/rc_controls_unittest.cc b/src/test/unit/rc_controls_unittest.cc index c7e552b5f1..8e744dba89 100644 --- a/src/test/unit/rc_controls_unittest.cc +++ b/src/test/unit/rc_controls_unittest.cc @@ -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);