Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-14 11:59:56 +03:00
Code Issues Wiki Activity

rc_rate setting removed

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

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 | | `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 | | `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 | | `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_expo` | | 0 | 100 | 65 | Rate Profile | UINT8 |
| `rc_yaw_expo` | | 0 | 100 | 0 | Rate Profile | UINT8 | | `rc_yaw_expo` | | 0 | 100 | 0 | Rate Profile | UINT8 |
| `thr_mid` | | 0 | 100 | 50 | 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. 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 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 0 has a default rate profile of 0.
Profile 1 has a default rate profile of 1. Profile 1 has a default rate profile of 1.
@ -54,7 +54,6 @@ e.g
# rateprofile # rateprofile
rateprofile 0 rateprofile 0
set rc_rate = 90
set rc_expo = 65 set rc_expo = 65
set thr_mid = 50 set thr_mid = 50
set thr_expo = 0 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); arraySubInt32(deltas, blackboxCurrent->axisPID_P, blackboxLast->axisPID_P, XYZ_AXIS_COUNT);
blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT); blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT);
/* /*
* The PID I field changes very slowly, most of the time +-2, so use an encoding * 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. * that can pack all three fields into one byte in that situation.
*/ */
@ -920,7 +920,7 @@ void startBlackbox(void)
* cache those now. * cache those now.
*/ */
blackboxBuildConditionCache(); blackboxBuildConditionCache();
blackboxModeActivationConditionPresent = isModeActivationConditionPresent(currentProfile->modeActivationConditions, BOXBLACKBOX); blackboxModeActivationConditionPresent = isModeActivationConditionPresent(currentProfile->modeActivationConditions, BOXBLACKBOX);
blackboxIteration = 0; blackboxIteration = 0;
@ -1228,7 +1228,7 @@ static bool blackboxWriteSysinfo()
blackboxPrintfHeaderLine("P interval:%d/%d", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom); blackboxPrintfHeaderLine("P interval:%d/%d", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
break; break;
case 4: case 4:
blackboxPrintfHeaderLine("rcRate:%d", masterConfig.controlRateProfiles[masterConfig.current_profile_index].rcRate8); blackboxPrintfHeaderLine("rcRate:%d", 100); //For compatibility reasons write rc_rate 100
break; break;
case 5: case 5:
blackboxPrintfHeaderLine("minthrottle:%d", masterConfig.escAndServoConfig.minthrottle); 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 * 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. * the portion of logged loop iterations.
*/ */
@ -1367,7 +1367,7 @@ static void blackboxLogIteration()
writeIntraframe(); writeIntraframe();
} else { } else {
blackboxCheckAndLogArmingBeep(); blackboxCheckAndLogArmingBeep();
if (blackboxShouldLogPFrame(blackboxPFrameIndex)) { if (blackboxShouldLogPFrame(blackboxPFrameIndex)) {
/* /*
* We assume that slow frames are only interesting in that they aid the interpretation of the main data stream. * 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); blackboxLogEvent(FLIGHT_LOG_EVENT_LOGGING_RESUME, (flightLogEventData_t *) &resume);
blackboxSetState(BLACKBOX_STATE_RUNNING); blackboxSetState(BLACKBOX_STATE_RUNNING);
blackboxLogIteration(); blackboxLogIteration();
} }

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

@ -353,7 +353,6 @@ void resetSerialConfig(serialConfig_t *serialConfig)
} }
static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) { static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
controlRateConfig->rcRate8 = 90;
controlRateConfig->rcExpo8 = 70; controlRateConfig->rcExpo8 = 70;
controlRateConfig->thrMid8 = 50; controlRateConfig->thrMid8 = 50;
controlRateConfig->thrExpo8 = 0; controlRateConfig->thrExpo8 = 0;
@ -628,7 +627,6 @@ static void resetConf(void)
currentProfile->pidProfile.P8[PITCH] = 36; currentProfile->pidProfile.P8[PITCH] = 36;
masterConfig.failsafeConfig.failsafe_delay = 2; masterConfig.failsafeConfig.failsafe_delay = 2;
masterConfig.failsafeConfig.failsafe_off_delay = 0; masterConfig.failsafeConfig.failsafe_off_delay = 0;
currentControlRateProfile->rcRate8 = 130;
currentControlRateProfile->rates[FD_PITCH] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT; 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_ROLL] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT;
currentControlRateProfile->rates[FD_YAW] = CONTROL_RATE_CONFIG_YAW_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); beeperConfirmationBeeps(1);
} }
switch(adjustmentFunction) { 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: case ADJUSTMENT_RC_EXPO:
newValue = constrain((int)controlRateConfig->rcExpo8 + delta, 0, 100); // FIXME magic numbers repeated in serial_cli.c newValue = constrain((int)controlRateConfig->rcExpo8 + delta, 0, 100); // FIXME magic numbers repeated in serial_cli.c
controlRateConfig->rcExpo8 = newValue; 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) #define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
typedef struct controlRateConfig_s { typedef struct controlRateConfig_s {
uint8_t rcRate8;
uint8_t rcExpo8; uint8_t rcExpo8;
uint8_t thrMid8; uint8_t thrMid8;
uint8_t thrExpo8; uint8_t thrExpo8;

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

@ -670,7 +670,6 @@ const clivalue_t valueTable[] = {
#endif #endif
{ "default_rate_profile", VAR_UINT8 | PROFILE_VALUE , &masterConfig.profile[0].defaultRateProfileIndex, .config.minmax = { 0, MAX_CONTROL_RATE_PROFILE_COUNT - 1 }, 0 }, { "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_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 }, { "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 }, { "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; break;
case MSP_RC_TUNING: case MSP_RC_TUNING:
headSerialReply(11); headSerialReply(11);
serialize8(currentControlRateProfile->rcRate8); serialize8(100); //rcRate8 kept for compatibity reasons, this setting is no longer used
serialize8(currentControlRateProfile->rcExpo8); serialize8(currentControlRateProfile->rcExpo8);
for (i = 0 ; i < 3; i++) { for (i = 0 ; i < 3; i++) {
serialize8(currentControlRateProfile->rates[i]); // R,P,Y see flight_dynamics_index_t 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: case MSP_SET_RC_TUNING:
if (currentPort->dataSize >= 10) { if (currentPort->dataSize >= 10) {
currentControlRateProfile->rcRate8 = read8(); read8(); //Read rcRate8, kept for protocol compatibility reasons
currentControlRateProfile->rcExpo8 = read8(); currentControlRateProfile->rcExpo8 = read8();
for (i = 0; i < 3; i++) { for (i = 0; i < 3; i++) {
rate = read8(); 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 { class RcControlsAdjustmentsTest : public ::testing::Test {
protected: protected:
controlRateConfig_t controlRateConfig = { controlRateConfig_t controlRateConfig = {
.rcRate8 = 90,
.rcExpo8 = 0, .rcExpo8 = 0,
.thrMid8 = 0, .thrMid8 = 0,
.thrExpo8 = 0, .thrExpo8 = 0,
@ -256,7 +255,6 @@ protected:
rxConfig.maxcheck = DEFAULT_MAX_CHECK; rxConfig.maxcheck = DEFAULT_MAX_CHECK;
rxConfig.midrc = 1500; rxConfig.midrc = 1500;
controlRateConfig.rcRate8 = 90;
controlRateConfig.rcExpo8 = 0; controlRateConfig.rcExpo8 = 0;
controlRateConfig.thrMid8 = 0; controlRateConfig.thrMid8 = 0;
controlRateConfig.thrExpo8 = 0; controlRateConfig.thrExpo8 = 0;
@ -289,7 +287,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsSticksInMiddle)
processRcAdjustments(&controlRateConfig, &rxConfig); processRcAdjustments(&controlRateConfig, &rxConfig);
// then // then
EXPECT_EQ(controlRateConfig.rcRate8, 90);
EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 0); EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 0);
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 0); EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 0);
EXPECT_EQ(adjustmentStateMask, 0); EXPECT_EQ(adjustmentStateMask, 0);
@ -299,7 +296,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
{ {
// given // given
controlRateConfig_t controlRateConfig = { controlRateConfig_t controlRateConfig = {
.rcRate8 = 90,
.rcExpo8 = 0, .rcExpo8 = 0,
.thrMid8 = 0, .thrMid8 = 0,
.thrExpo8 = 0, .thrExpo8 = 0,
@ -344,7 +340,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig, &rxConfig); processRcAdjustments(&controlRateConfig, &rxConfig);
// then // then
EXPECT_EQ(controlRateConfig.rcRate8, 91);
EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 1); EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 1);
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 1); EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 1);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask); EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
@ -360,7 +355,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
// when // when
processRcAdjustments(&controlRateConfig, &rxConfig); processRcAdjustments(&controlRateConfig, &rxConfig);
EXPECT_EQ(controlRateConfig.rcRate8, 91);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask); EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
@ -382,7 +376,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
// when // when
processRcAdjustments(&controlRateConfig, &rxConfig); processRcAdjustments(&controlRateConfig, &rxConfig);
EXPECT_EQ(controlRateConfig.rcRate8, 91);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask); EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
@ -403,7 +396,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig, &rxConfig); processRcAdjustments(&controlRateConfig, &rxConfig);
// then // then
EXPECT_EQ(controlRateConfig.rcRate8, 92);
EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 2); EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 2);
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 2); EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 2);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask); EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
@ -420,7 +412,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig, &rxConfig); processRcAdjustments(&controlRateConfig, &rxConfig);
// then // then
EXPECT_EQ(controlRateConfig.rcRate8, 92);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask); EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
// //
@ -434,7 +425,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig, &rxConfig); processRcAdjustments(&controlRateConfig, &rxConfig);
// then // then
EXPECT_EQ(controlRateConfig.rcRate8, 92);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask); EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
// //
@ -450,7 +440,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig, &rxConfig); processRcAdjustments(&controlRateConfig, &rxConfig);
// then // then
EXPECT_EQ(controlRateConfig.rcRate8, 93);
EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 3); EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 3);
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 3); EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 3);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask); EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);